RelativeEndEffectorTask.h

Go to the documentation of this file.

/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks/EndEffectorTask.h>
#include <mc_tasks/api.h>
 
namespace mc_tasks
{
 
struct MC_TASKS_DLLAPI RelativeEndEffectorTask : public EndEffectorTask
{
public:
  RelativeEndEffectorTask(const mc_rbdyn::RobotFrame & frame,
                          const mc_rbdyn::Frame & relative,
                          double stiffness = 10.0,
                          double weight = 1000.0);
 
  RelativeEndEffectorTask(const std::string & bodyName,
                          const mc_rbdyn::Robots & robots,
                          unsigned int robotIndex,
                          const std::string & relBodyName = "",
                          double stiffness = 10.0,
                          double weight = 1000.0);
 
  void reset() override;
 
  void add_ef_pose(const sva::PTransformd & dtr) override;
 
  void set_ef_pose(const sva::PTransformd & tf) override;
 
  sva::PTransformd get_ef_pose() override;
 
protected:
  void addToGUI(mc_rtc::gui::StateBuilder & gui) override;
 
private:
  mc_rbdyn::ConstFramePtr relative_;
 
  void update(mc_solver::QPSolver &) override;
};
 
} // namespace mc_tasks