armShapeTask.h

#ifndef ARMSHAPETASK_H
#define ARMSHAPETASK_H

#include "task.h"

enum ShapeType {MID_LIMITS, PEG_GRASPED_PHASE};

class ArmShapeTask : public Task
{
public:
  ArmShapeTask(int dimension, bool eqType, std::string robotName, ShapeType shapeType);
  int updateMatrices(struct Infos* const robInfo);
private:
  ShapeType shapeType;
  double rangeAct;

  int setActivation(std::vector<double> jointGoal, std::vector<double> jState);
  int setJacobian();
  int setReference(std::vector<double> jointGoal, std::vector<double> jState);
};

#endif // ARMSHAPETASK_H