distance_to_line_2d.h

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#ifndef EXOTICA_CORE_TASK_MAPS_DISTANCE_TO_LINE_H_
#define EXOTICA_CORE_TASK_MAPS_DISTANCE_TO_LINE_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/distance_to_line_2d_initializer.h>
 
#include <visualization_msgs/MarkerArray.h>
 
namespace exotica
{
void PointToLineDistance(const Eigen::Vector2d& P1, const Eigen::Vector2d& P2, const Eigen::Vector2d& P3, double& d)
{
    d = ((-P1.x() + P2.x()) * (P1.y() - P3.y()) - (P1.x() - P3.x()) * (-P1.y() + P2.y())) / (P2 - P1).norm();
}
 
void PointToLineDistanceDerivative(const Eigen::Vector2d& P1,
                                   const Eigen::Vector2d& P2,
                                   const Eigen::Vector2d& P3,
                                   const Eigen::MatrixXd& dP1_dq,
                                   const Eigen::MatrixXd& dP2_dq,
                                   const Eigen::MatrixXd& dP3_dq,
                                   Eigen::Ref<Eigen::MatrixXd>& derivative)
{
    double squared_distance_between_P1_and_P2 = (P2 - P1).squaredNorm();
 
    derivative = ((-P1.x() + P2.x()) * (P1.y() - P3.y()) - (P1.x() - P3.x()) * (-P1.y() + P2.y())) *
                     (-1.0 / 2.0 * (-P1.x() + P2.x()) * (-2 * dP1_dq.row(0) + 2 * dP2_dq.row(0)) -
                      1.0 / 2.0 * (-P1.y() + P2.y()) * (-2 * dP1_dq.row(1) + 2 * dP2_dq.row(1))) /
                     std::pow(squared_distance_between_P1_and_P2, 3.0 / 2.0) +
                 ((-P1.x() + P2.x()) * (dP1_dq.row(1) - dP3_dq.row(1)) + (P1.x() - P3.x()) * (dP1_dq.row(1) - dP2_dq.row(1)) +
                  (P1.y() - P2.y()) * (dP1_dq.row(0) - dP3_dq.row(0)) + (P1.y() - P3.y()) * (-dP1_dq.row(0) + dP2_dq.row(0))) /
                     std::sqrt(squared_distance_between_P1_and_P2);
}
 
class DistanceToLine2D : public TaskMap, public Instantiable<DistanceToLine2DInitializer>
{
public:
    void AssignScene(ScenePtr scene) final;
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) final;
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) final;
    // TODO: Hessian
    int TaskSpaceDim() final;
 
private:
    void Initialize();
    ros::Publisher pub_debug_;
    visualization_msgs::MarkerArray debug_marker_array_msg_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_DISTANCE_TO_LINE_H_