task_open_loop_control.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_OPEN_LOOP_CONTROL_H_
#define SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_OPEN_LOOP_CONTROL_H_

#include <corbo-tasks/task_interface.h>

#include <memory>
#include <string>

namespace corbo {

class OpenLoopControlTask : public TaskInterface
{
 public:
    using Ptr = std::shared_ptr<OpenLoopControlTask>;

    OpenLoopControlTask();

    // implements interface method
    TaskInterface::Ptr getInstance() const override { return std::make_shared<OpenLoopControlTask>(); }

    // implements interface method
    void performTask(Environment& environment, SignalTargetInterface* signal_target = nullptr, std::string* msg = nullptr,
                     const std::string& ns = "") override;

    void setStateReference(ReferenceTrajectoryInterface::Ptr xreference) { _xreference = xreference; }
    void setControlReference(ReferenceTrajectoryInterface::Ptr ureference) { _ureference = ureference; }

    // implements interface method
    bool verify(const Environment& environment, std::string* msg = nullptr) const override;

    // implements interface method
    void getAvailableSignals(const Environment& environment, SignalTargetInterface& signal_target, const std::string& ns = "") const override;

    // implements interface method
    void reset() override {}

#ifdef MESSAGE_SUPPORT
    void toMessage(messages::OpenLoopControlTask& message) const;
    void fromMessage(const messages::OpenLoopControlTask& message, std::stringstream* issues = nullptr);

    // implements interface method
    void toMessage(messages::Task& message) const override { toMessage(*message.mutable_open_loop_control_task()); }
    // implements interface method
    void fromMessage(const messages::Task& message, std::stringstream* issues = nullptr) override
    {
        fromMessage(message.open_loop_control_task(), issues);
    }
#endif

 private:
    double _dt          = 0.1;
    bool _realtime_sync = false;
    ReferenceTrajectoryInterface::Ptr _xreference;
    ReferenceTrajectoryInterface::Ptr _ureference;
};

FACTORY_REGISTER_TASK(OpenLoopControlTask)

}  // namespace corbo

#endif  // SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_OPEN_LOOP_CONTROL_H_