PostureFunction.h

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#pragma once
 
#include <tvm/Robot.h>
 
#include <tvm/function/abstract/Function.h>
 
namespace tvm
{
 
namespace robot
{
 
class TVM_DLLAPI PostureFunction : public function::abstract::Function
{
public:
  SET_UPDATES(PostureFunction, Value, Velocity)
 
  
  PostureFunction(RobotPtr robot);
 
  void reset();
 
  void posture(const std::string & j, const std::vector<double> & q);
 
  void posture(const std::vector<std::vector<double>> & p);
 
protected:
  void updateValue();
 
  void updateVelocity();
 
  RobotPtr robot_;
 
  std::vector<std::vector<double>> posture_;
 
  int j0_;
};
 
} // namespace robot
 
} // namespace tvm