eff_axis_alignment.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_EFF_AXIS_ALIGNMENT_H_
#define EXOTICA_CORE_TASK_MAPS_EFF_AXIS_ALIGNMENT_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/eff_axis_alignment_initializer.h>
#include <exotica_core_task_maps/frame_with_axis_and_direction_initializer.h>
 
#include <visualization_msgs/MarkerArray.h>
 
namespace exotica
{
class EffAxisAlignment : public TaskMap, public Instantiable<EffAxisAlignmentInitializer>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    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;
 
    int TaskSpaceDim() override;
 
    void SetDirection(const std::string& frame_name, const Eigen::Vector3d& dir_in);
    Eigen::Vector3d GetDirection(const std::string& frame_name) const;
 
    void SetAxis(const std::string& frame_name, const Eigen::Vector3d& axis_in);
    Eigen::Vector3d GetAxis(const std::string& frame_name) const;
 
    int N;
 
private:
    void Initialize();
 
    ros::Publisher pub_debug_;
    visualization_msgs::MarkerArray msg_debug_;
 
    int n_frames_;
 
    Eigen::Matrix3Xd axis_, dir_;
    Eigen::Vector3d link_position_in_base_, link_axis_position_in_base_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_EFF_AXIS_ALIGNMENT_H_