TestTask.h

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#ifndef __TESTTASK_H__
#define __TESTTASK_H__
 
#include <tpik/TPIKlib.h>
#include <iostream>
 
class TestTask: public tpik::ReactiveTask
{
public:
    TestTask(const std::string ID);
    TestTask();
    ~TestTask();
    void SetID(const std::string ID);
    void Update() override;
    void SetGain(std::shared_ptr<Eigen::MatrixXd> gain);
protected:
    void UpdateInternalActivationFunction() override;
    void UpdateJacobian() override;
    void UpdateReference() override;
 
private:
    std::shared_ptr<Eigen::MatrixXd> gain_;
};
 
#endif