VectorOrientationTask.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 VectorOrientationTask : public TrajectoryTaskGeneric
{
  VectorOrientationTask(const mc_rbdyn::RobotFrame & frame,
                        const Eigen::Vector3d & frameVector,
                        double stiffness = 2.0,
                        double weight = 500.0);
 
  VectorOrientationTask(const std::string & bodyName,
                        const Eigen::Vector3d & bodyVector,
                        const Eigen::Vector3d & targetVector,
                        const mc_rbdyn::Robots & robots,
                        unsigned int robotIndex,
                        double stiffness = 2.0,
                        double weight = 500);
 
  VectorOrientationTask(const std::string & bodyName,
                        const Eigen::Vector3d & bodyVector,
                        const mc_rbdyn::Robots & robots,
                        unsigned int robotIndex,
                        double stiffness = 2.0,
                        double weight = 500);
 
  void reset() override;
 
  void targetVector(const Eigen::Vector3d & vector);
 
  Eigen::Vector3d targetVector() const;
 
  Eigen::Vector3d actual() const;
 
  std::string body() { return frame_->body(); }
 
  void load(mc_solver::QPSolver & solver, const mc_rtc::Configuration & config) override;
 
protected:
  void addToGUI(mc_rtc::gui::StateBuilder & gui) override;
  void addToLogger(mc_rtc::Logger & logger) override;
 
protected:
  mc_rbdyn::ConstRobotFramePtr frame_;
};
 
} // namespace mc_tasks