LookAtTFTask.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks_ros/api.h>
 
#include <mc_tasks/LookAtTask.h>
 
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
 
namespace mc_tasks
{
struct MC_TASKS_ROS_DLLAPI LookAtTFTask : public LookAtTask
{
  LookAtTFTask(const mc_rbdyn::RobotFrame & frame,
               const Eigen::Vector3d & frameVector,
               const std::string & sourceFrame,
               const std::string & targetFrame,
               double stiffness = 0.5,
               double weight = 200);
 
  LookAtTFTask(const std::string & bodyName,
               const Eigen::Vector3d & bodyVector,
               const std::string & sourceFrame,
               const std::string & targetFrame,
               const mc_rbdyn::Robots & robots,
               unsigned int robotIndex,
               double stiffness = 0.5,
               double weight = 200);
 
  void update(mc_solver::QPSolver &) override;
 
private:
  tf2_ros::Buffer tfBuffer;
  tf2_ros::TransformListener tfListener;
  std::string sourceFrame;
  std::string targetFrame;
};
 
} // namespace mc_tasks