gOcraContactTaskManager.cpp

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#include "gocra/Tasks/Managers/gOcraContactTaskManager.h"

namespace gocra
{

gOcraContactTaskManager::gOcraContactTaskManager(GHCJTController& _ctrl, const ocra::Model& _model, const std::string& _taskName, const std::string& _segmentName, Eigen::Displacementd _H_segment_frame, double _mu, double _margin)
    : gOcraTaskManagerBase(_ctrl, _model, _taskName), segmentName(_segmentName)
{
    featFrame = new ocra::SegmentFrame(name + ".SegmentFrame", model, model.SegmentName(segmentName), _H_segment_frame);
    feat = new ocra::PointContactFeature(name + ".PointContactFeature", *featFrame);

    task = &(ctrl.createGHCJTContactTask(name, *feat, _mu, _margin));

    ctrl.addTask(task);

    task->activateAsConstraint();
}

void gOcraContactTaskManager::activate()
{
    task->activateAsConstraint();
}

void gOcraContactTaskManager::deactivate()
{
    task->deactivate();
}

// Masks base class function
VectorXd gOcraContactTaskManager::getTaskError()
{
    throw std::runtime_error("[gOcraContactTaskManager::getTaskError()] Error is meaningless in this context or has not been computed");
}

// Masks base class function
double gOcraContactTaskManager::getTaskErrorNorm()
{
    throw std::runtime_error("[gOcraContactTaskManager::getTaskErrorNorm()] Error is meaningless in this context or has not been computed");
}


}