PositionBasedVisServoTask.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
#include <mc_tasks/TrajectoryTaskGeneric.h>
 
namespace mc_tasks
{
struct MC_TASKS_DLLAPI PositionBasedVisServoTask : public TrajectoryTaskGeneric
{
public:
  PositionBasedVisServoTask(const mc_rbdyn::RobotFrame & frame,
                            const sva::PTransformd & X_t_s = sva::PTransformd::Identity(),
                            double stiffness = 2.0,
                            double weight = 500.0);
 
  PositionBasedVisServoTask(const std::string & bodyName,
                            const sva::PTransformd & X_t_s,
                            const sva::PTransformd & X_b_s,
                            const mc_rbdyn::Robots & robots,
                            unsigned int robotIndex,
                            double stiffness = 2.0,
                            double weight = 500);
 
  PositionBasedVisServoTask(const std::string & surfaceName,
                            const sva::PTransformd & X_t_s,
                            const mc_rbdyn::Robots & robots,
                            unsigned int robotIndex,
                            double stiffness = 2.0,
                            double weight = 500);
 
  void reset() override;
 
  void error(const sva::PTransformd & X_t_s);
 
  void addToLogger(mc_rtc::Logger & logger) override;
 
private:
  sva::PTransformd X_t_s_;
};
} // namespace mc_tasks