interaction_mesh.h

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#ifndef EXOTICA_CORE_TASK_MAPS_INTERACTION_MESH_H_
#define EXOTICA_CORE_TASK_MAPS_INTERACTION_MESH_H_
 
#include <exotica_core/kinematic_tree.h>
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/interaction_mesh_initializer.h>
 
#include <visualization_msgs/Marker.h>
 
namespace exotica
{
class InteractionMesh : public TaskMap, public Instantiable<InteractionMeshInitializer>
{
public:
    InteractionMesh();
    virtual ~InteractionMesh();
 
    void Instantiate(const InteractionMeshInitializer& init) override;
    void AssignScene(ScenePtr scene) 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;
 
    void SetWeight(int i, int j, double weight);
    void SetWeights(const Eigen::MatrixXd& weights);
    Eigen::MatrixXd GetWeights();
 
    static Eigen::VectorXd ComputeLaplace(Eigen::VectorXdRefConst eff_Phi, Eigen::MatrixXdRefConst weights, Eigen::MatrixXd* dist = nullptr, Eigen::VectorXd* wsum = nullptr);
    void ComputeGoalLaplace(const Eigen::VectorXd& x, Eigen::VectorXd& goal);
    static void ComputeGoalLaplace(const std::vector<KDL::Frame>& nodes, Eigen::VectorXd& goal, Eigen::MatrixXdRefConst weights);
 
protected:
    void Debug(Eigen::VectorXdRefConst phi);
    void InitializeDebug(std::string ref);
    void DestroyDebug();
 
    Eigen::MatrixXd weights_;
    int eff_size_ = 0;
 
    ros::Publisher imesh_mark_pub_;
    visualization_msgs::Marker imesh_mark_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_INTERACTION_MESH_H_