control_regularization.h

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#ifndef EXOTICA_CORE_TASK_MAPS_CONTROL_REGULARIZATION_H_
#define EXOTICA_CORE_TASK_MAPS_CONTROL_REGULARIZATION_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/control_regularization_initializer.h>
 
namespace exotica
{
class ControlRegularization : public TaskMap, public Instantiable<ControlRegularizationInitializer>
{
public:
    void AssignScene(ScenePtr scene) override;
 
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override;
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override;
 
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu) override;
 
    int TaskSpaceDim() override;
 
    const std::vector<int>& get_joint_map() const;
    const Eigen::VectorXd& get_joint_ref() const;
 
private:
    void Initialize();
    int num_controlled_joints_;   
    std::vector<int> joint_map_;  
    Eigen::VectorXd joint_ref_;   
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_CONTROL_REGULARIZATION_H_