25 #ifndef SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_OPEN_LOOP_CONTROL_H_ 26 #define SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_OPEN_LOOP_CONTROL_H_ 52 using Ptr = std::shared_ptr<OpenLoopControlTask>;
62 const std::string& ns =
"")
override;
70 bool verify(
const Environment& environment, std::string* msg =
nullptr)
const override;
78 #ifdef MESSAGE_SUPPORT 79 void toMessage(messages::OpenLoopControlTask& message)
const;
80 void fromMessage(
const messages::OpenLoopControlTask& message, std::stringstream* issues =
nullptr);
83 void toMessage(messages::Task& message)
const override { toMessage(*message.mutable_open_loop_control_task()); }
85 void fromMessage(
const messages::Task& message, std::stringstream* issues =
nullptr)
override 87 fromMessage(message.open_loop_control_task(), issues);
102 #endif // SRC_TASKS_INCLUDE_CORBO_TASKS_TASK_OPEN_LOOP_CONTROL_H_ void setControlReference(ReferenceTrajectoryInterface::Ptr ureference)
Set control input reference trajectory.
Standard environment for control tasks.
Perform open-loop control task.
ReferenceTrajectoryInterface::Ptr _xreference
OpenLoopControlTask()
Default constructor.
std::shared_ptr< TaskInterface > Ptr
ReferenceTrajectoryInterface::Ptr _ureference
void reset() override
Reset task state.
Interface class for signal targets.
void performTask(Environment &environment, SignalTargetInterface *signal_target=nullptr, std::string *msg=nullptr, const std::string &ns="") override
Perform task.
void getAvailableSignals(const Environment &environment, SignalTargetInterface &signal_target, const std::string &ns="") const override
Retrieve available signals from the task.
TaskInterface::Ptr getInstance() const override
Return a newly created shared instance of the implemented class.
std::shared_ptr< ReferenceTrajectoryInterface > Ptr
void setStateReference(ReferenceTrajectoryInterface::Ptr xreference)
Set state reference trajectory.
#define FACTORY_REGISTER_TASK(type)
bool verify(const Environment &environment, std::string *msg=nullptr) const override
Check if the environment and other settings satisfy all requirements for the given task...
Interface class for tasks.