center_of_mass.h

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//
// Copyright (c) 2018, University of Edinburgh
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#ifndef EXOTICA_CORE_TASK_MAPS_COM_H_
#define EXOTICA_CORE_TASK_MAPS_COM_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/center_of_mass_initializer.h>
 
#include <visualization_msgs/MarkerArray.h>
 
namespace exotica
{
class CenterOfMass : public TaskMap, public Instantiable<CenterOfMassInitializer>
{
public:
    void AssignScene(ScenePtr scene) 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 Initialize();
    void InitializeDebug();
 
    Eigen::VectorXd mass_;
    ros::Publisher com_links_pub_;
    ros::Publisher com_pub_;
    ros::Publisher goal_pub_;
    visualization_msgs::Marker com_links_marker_;
    visualization_msgs::Marker com_marker_;
    visualization_msgs::Marker goal_marker_;
    bool enable_z_;
    int dim_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_COM_H_