avoid_look_at_sphere.h

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//
// Copyright (c) 2019, Christopher E. Mower
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
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//    this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
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#ifndef EXOTICA_CORE_TASK_MAPS_AVOID_LOOK_AT_SPHERE_H_
#define EXOTICA_CORE_TASK_MAPS_AVOID_LOOK_AT_SPHERE_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/avoid_look_at_sphere_initializer.h>
 
namespace exotica
{
class AvoidLookAtSphere : public TaskMap, public Instantiable<AvoidLookAtSphereInitializer>
{
public:
    void Instantiate(const AvoidLookAtSphereInitializer& init) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override;
    int TaskSpaceDim() override;
 
private:
    void UpdateAsCostWithoutJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi);
    void UpdateAsInequalityConstraintWithoutJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi);
    void UpdateAsCostWithJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian);
    void UpdateAsInequalityConstraintWithJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian);
 
    void PublishObjectsAsMarkerArray();
 
    void (AvoidLookAtSphere::*UpdateTaskMapWithoutJacobian)(Eigen::VectorXdRefConst, Eigen::VectorXdRef);
    void (AvoidLookAtSphere::*UpdateTaskMapWithJacobian)(Eigen::VectorXdRefConst, Eigen::VectorXdRef, Eigen::MatrixXdRef);
    int n_objects_;                  
    Eigen::VectorXd diameter_;       
    Eigen::VectorXd radii_squared_;  
    ros::Publisher pub_markers_;     
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_AVOID_LOOK_AT_SPHERE_H_