gaze_at_constraint.h

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#ifndef EXOTICA_CORE_TASK_MAPS_GAZE_AT_CONSTRAINT_H_
#define EXOTICA_CORE_TASK_MAPS_GAZE_AT_CONSTRAINT_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/gaze_at_constraint_initializer.h>
 
namespace exotica
{
class GazeAtConstraint : public TaskMap, public Instantiable<GazeAtConstraintInitializer>
{
public:
    void Instantiate(const GazeAtConstraintInitializer& init) 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:
    Eigen::VectorXd tan_theta_squared_;  
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_GAZE_AT_CONSTRAINT_H_