collision_distance.h

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//
// Copyright (c) 2018, Wolfgang Merkt
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
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//  * Redistributions in binary form must reproduce the above copyright
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#ifndef EXOTICA_CORE_TASK_MAPS_COLLISION_DISTANCE_H_
#define EXOTICA_CORE_TASK_MAPS_COLLISION_DISTANCE_H_
 
#include <algorithm>
#include <cmath>
#include <limits>
 
#include <exotica_core/task_map.h>
#include <exotica_core_task_maps/collision_distance_initializer.h>
 
namespace exotica
{
class CollisionDistance : public TaskMap, public Instantiable<CollisionDistanceInitializer>
{
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 J) override;
    int TaskSpaceDim() override;
 
    std::vector<CollisionProxy> get_collision_proxies() { return closest_proxies_; }
 
private:
    void Initialize();
 
    std::vector<std::string> robot_joints_;
    std::map<std::string, std::vector<std::string>> controlled_joint_to_collision_link_map_;
    bool check_self_collision_ = true;
    double robot_margin_;
    double world_margin_;
    std::vector<CollisionProxy> closest_proxies_;
 
    int dim_;
    CollisionScenePtr cscene_;
 
    void UpdateInternal(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian = true);
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_COLLISION_DISTANCE_H_