CTaskGc.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 CTaskGc.hpp
 *
 *  Created on: Jul 23, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CTASKGC_HPP_
#define CTASKGC_HPP_

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

#include <scl/control/task/tasks/data_structs/STaskGc.hpp>

namespace scl
{

  class CTaskGc : public scl::CTaskBase
  {
  public:
    /********************************
     * CTaskBase API
     *********************************/
    virtual bool computeServo(const SRobotSensors* arg_sensors);

    virtual bool computeModel(const SRobotSensors* arg_sensors);

    /* **************************************************************
     *                   Status Get/Set Functions
     * ************************************************************** */
    virtual STaskBase* getTaskData();

    virtual bool setGoalPos(const Eigen::VectorXd & arg_goal);

    virtual bool setGoalVel(const Eigen::VectorXd & arg_goal);

    virtual bool setGoalAcc(const Eigen::VectorXd & arg_goal);

    virtual bool getGoalPos(Eigen::VectorXd & arg_goal) const
    { arg_goal = data_->q_goal_; return true; }

    virtual bool getGoalVel(Eigen::VectorXd & arg_goal) const
    { arg_goal = data_->dq_goal_; return true; }

    virtual bool getGoalAcc(Eigen::VectorXd & arg_goal) const
    { arg_goal = data_->ddq_goal_; return true; }

    sBool achievedGoalPos();

    /********************************
     * Initialization specific functions
     *********************************/
    CTaskGc();

    virtual ~CTaskGc(){}

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

    bool setFlagCompensateForGravity(const bool arg_grav_enabled)
    {
      if(NULL == data_){return false;}
      else{ data_->gravity_enabled_ = arg_grav_enabled; return true;  }
    }

    virtual void reset();

  private:
    STaskGc* data_;
  };

}

#endif /* CTASKGC_HPP_ */