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// |
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// Copyright (c) 2017 CNRS, NYU, MPI Tübingen |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include "tsid/tasks/task-motion.hpp" |
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namespace tsid { |
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namespace tasks { |
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typedef math::Vector Vector; |
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typedef trajectories::TrajectorySample TrajectorySample; |
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TaskMotion::TaskMotion(const std::string& name, RobotWrapper& robot) |
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: TaskBase(name, robot) {} |
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void TaskMotion::setMask(math::ConstRefVector mask) { m_mask = mask; } |
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bool TaskMotion::hasMask() { return m_mask.size() > 0; } |
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const Vector& TaskMotion::getMask() const { return m_mask; } |
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const TrajectorySample& TaskMotion::getReference() const { |
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return TrajectorySample_dummy; |
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} |
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const Vector& TaskMotion::getDesiredAcceleration() const { return m_dummy; } |
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Vector TaskMotion::getAcceleration(ConstRefVector) const { return m_dummy; } |
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const Vector& TaskMotion::position_error() const { return m_dummy; } |
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const Vector& TaskMotion::velocity_error() const { return m_dummy; } |
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const Vector& TaskMotion::position() const { return m_dummy; } |
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const Vector& TaskMotion::velocity() const { return m_dummy; } |
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const Vector& TaskMotion::position_ref() const { return m_dummy; } |
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const Vector& TaskMotion::velocity_ref() const { return m_dummy; } |
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} // namespace tasks |
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} // namespace tsid |