joint_acceleration_backward_difference.h

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#ifndef EXOTICA_CORE_TASK_MAPS_JOINT_ACCELERATION_BACKWARD_DIFFERENCE_H_
#define EXOTICA_CORE_TASK_MAPS_JOINT_ACCELERATION_BACKWARD_DIFFERENCE_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/joint_acceleration_backward_difference_initializer.h>
 
namespace exotica
{
class JointAccelerationBackwardDifference : public TaskMap, public Instantiable<JointAccelerationBackwardDifferenceInitializer>
{
public:
    void AssignScene(ScenePtr scene) override;
 
    void SetPreviousJointState(Eigen::VectorXdRefConst joint_state);
 
    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:
    int N_;                                       
    Eigen::Vector2d backward_difference_params_;  
    Eigen::MatrixXd q_;                           
    Eigen::VectorXd qbd_;                         
    Eigen::MatrixXd I_;                           
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_JOINT_ACCELERATION_BACKWARD_DIFFERENCE_H_