OrientationTask.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks/TrajectoryTaskGeneric.h>
 
namespace mc_tasks
{
 
struct MC_TASKS_DLLAPI OrientationTask : public TrajectoryTaskGeneric
{
public:
  friend struct EndEffectorTask;
 
  OrientationTask(const mc_rbdyn::RobotFrame & frame, double stiffness = 2.0, double weight = 500.0);
 
  OrientationTask(const std::string & bodyName,
                  const mc_rbdyn::Robots & robots,
                  unsigned int robotIndex,
                  double stiffness = 2.0,
                  double weight = 500);
 
  void reset() override;
 
  void orientation(const Eigen::Matrix3d & ori);
 
  Eigen::Matrix3d orientation();
 
protected:
  void addToGUI(mc_rtc::gui::StateBuilder & gui) override;
 
public:
  mc_rbdyn::ConstRobotFramePtr frame_;
  void addToLogger(mc_rtc::Logger & logger) override;
};
 
} // namespace mc_tasks