CTaskNULL.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl 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.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl 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 Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file CTaskNULL.hpp
 *
 *  Created on: Aug 19, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CTASKNULL_HPP_
#define CTASKNULL_HPP_

#include <scl/DataTypes.hpp>

#include <scl/control/task/CTaskBase.hpp>

#include <scl/dynamics/CDynamicsBase.hpp>

namespace scl
{

class CTaskNULL: public scl::CTaskBase
{
public:
  CTaskNULL() : data_(S_NULL) {}

  virtual ~CTaskNULL(){}

  /********************************
   * CTaskBase API
   *********************************/

  virtual bool init(STaskBase* arg_task_data,
      CDynamicsBase* arg_dynamics);

  virtual STaskBase* getTaskData();

  virtual void reset();

  virtual bool computeServo(const SRobotSensors* arg_sensors);

  virtual bool computeModel(const SRobotSensors* arg_sensors);

private:
  STaskBase* data_;
};

}

#endif /* CTASKNULL_HPP_ */