task-base.hpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_task_base_hpp__
#define __invdyn_task_base_hpp__

#include "tsid/math/fwd.hpp"
#include "tsid/robots/fwd.hpp"
#include "tsid/math/constraint-base.hpp"

#include <pinocchio/multibody/fwd.hpp>

namespace tsid {
namespace tasks {

class TaskBase {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::ConstraintBase ConstraintBase;
 typedef math::ConstRefVector ConstRefVector;
 typedef pinocchio::Data Data;
 typedef robots::RobotWrapper RobotWrapper;

 TaskBase(const std::string& name, RobotWrapper& robot);

 virtual ~TaskBase() = default;

 const std::string& name() const;

 void name(const std::string& name);

 virtual int dim() const = 0;

 virtual const ConstraintBase& compute(double t, ConstRefVector q,
 ConstRefVector v, Data& data) = 0;

 virtual const ConstraintBase& getConstraint() const = 0;

 protected:
 std::string m_name;

 RobotWrapper& m_robot;
};

} // namespace tasks
} // namespace tsid

#endif // ifndef __invdyn_task_base_hpp__