vehicleReachTask.h

#ifndef VEHICLEREACHTASK_H
#define VEHICLEREACHTASK_H

#include "task.h" // task.h will include other header (like cmat and eigen)
#include "../../support/header/conversions.h"

enum LinAngType {LINEAR, ANGULAR, LIN_ANG, YAXIS};

class VehicleReachTask : public Task {

public:
  VehicleReachTask(int dimension, bool eqType, std::string robotName, LinAngType linAngType);

  int updateMatrices(struct Infos* const robInfo);

private:
  LinAngType linAngType;

  int setActivation();
  int setJacobian(Eigen::Matrix4d wTv_eigen);
  int setReference(
      Eigen::Matrix4d wTv_eigen, Eigen::Matrix4d wTg_eigen);

};

#endif // VEHICLEREACHTASK_H