horizontalAttitudeTask.h

#ifndef HORIZONTALATTITUDETASK_H
#define HORIZONTALATTITUDETASK_H

#include "task.h"
#include "../../support/header/formulas.h"
#include "../../support/header/conversions.h"




class HorizontalAttitudeTask : public Task
{
    public:
      HorizontalAttitudeTask(int dimension, bool eqType, std::string robotName);
      int updateMatrices(struct Infos* const robInfo);
    private:
      Eigen::Vector3d phi;

      void setPhi(Eigen::Matrix4d wTv_eigen);
      void setActivation();
      void setJacobian();
      void setReference();
};

#endif // HORIZONTALATTITUDETASK_H