Reference.h

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/*
 * Copyright 2017-2020 CNRS-AIST JRL and CNRS-UM LIRMM
 */
 
#pragma once
 
#include <tvm/task_dynamics/abstract/TaskDynamics.h>
 
namespace tvm::task_dynamics
{
class TVM_DLLAPI Reference : public abstract::TaskDynamics
{
public:
  class TVM_DLLAPI Impl : public abstract::TaskDynamicsImpl
  {
  public:
    Impl(FunctionPtr f, constraint::Type t, const Eigen::VectorXd & rhs, Order order, FunctionPtr ref);
    void updateValue() override;
 
    ~Impl() override = default;
 
    FunctionPtr ref() const { return ref_; }
    void ref(const FunctionPtr & r);
 
  private:
    void setReference(const FunctionPtr & ref);
 
    FunctionPtr ref_;
  };
 
  Reference(Order order, const FunctionPtr & ref);
 
  ~Reference() override = default;
 
protected:
  std::unique_ptr<abstract::TaskDynamicsImpl> impl_(FunctionPtr f,
                                                    constraint::Type t,
                                                    const Eigen::VectorXd & rhs) const override;
  Order order_() const override;
 
  TASK_DYNAMICS_DERIVED_FACTORY(refOrder_, ref_)
private:
  Order refOrder_;
  FunctionPtr ref_;
};
 
class TVM_DLLAPI ReferenceVelocity : public Reference
{
public:
  ReferenceVelocity(const FunctionPtr & ref);
};
 
class TVM_DLLAPI ReferenceAcceleration : public Reference
{
public:
  ReferenceAcceleration(const FunctionPtr & ref);
};
} // namespace tvm::task_dynamics