gOcraTaskManagerBase.cpp

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#include "gocra/Tasks/gOcraTaskManagerBase.h"

namespace gocra
{

gOcraTaskManagerBase::gOcraTaskManagerBase(GHCJTController& _ctrl, const ocra::Model& _model, const std::string& _taskName)
    : ctrl(_ctrl), model(_model), name(_taskName)
{
}

Eigen::VectorXd gOcraTaskManagerBase::getTaskError()
{
    throw std::runtime_error(std::string("[gOcraTaskManagerBase::getTaskError()]: getTaskError has not been implemented or is not supported"));
}

double gOcraTaskManagerBase::getTaskErrorNorm()
{
    return getTaskError().norm();
}

}