joint_limit.h

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#ifndef EXOTICA_CORE_TASK_MAPS_JOINTLIMIT_H_
#define EXOTICA_CORE_TASK_MAPS_JOINTLIMIT_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/joint_limit_initializer.h>
 
namespace exotica
{
class JointLimit : public TaskMap, public Instantiable<JointLimitInitializer>
{
public:
    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;
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override;
 
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu) override;
 
    int TaskSpaceDim() override;
 
private:
    void Initialize();
 
    double safe_percentage_;
    int N;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_JOINTLIMIT_H_