pipeReachTask.h

#ifndef PIPEREACHTASK_H
#define PIPEREACHTASK_H

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

enum VehArmType {ONLYVEH, ONLYARM, BOTH};
enum AngLinType {LIN, ANG, LINANGBOTH};

class PipeReachTask : public Task {

public:
  PipeReachTask(int dim, bool eqType, std::string robotName, VehArmType vehArmType, AngLinType angLinType = LINANGBOTH);
  int updateMatrices(struct Infos* const robInfo);

private:
  int setActivation();
  void setReference(Eigen::Matrix4d wTgoaltool_eigen, Eigen::Matrix4d wTtool_eigen);
  void setJacobian(Eigen::Matrix<double, 6, TOT_DOF> w_J_robot);

  double gainLin;
  double gainAng;

  VehArmType vehArmType;
  AngLinType angLinType;
};
#endif // PIPEREACHTASK_H