joint_torque_minimization_proxy.h

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//
// Copyright (c) 2019, Wolfgang Merkt
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#ifndef EXOTICA_CORE_TASK_MAPS_JOINT_TORQUE_MINIMIZATION_PROXY_H_
#define EXOTICA_CORE_TASK_MAPS_JOINT_TORQUE_MINIMIZATION_PROXY_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/joint_torque_minimization_proxy_initializer.h>
 
namespace exotica
{
class JointTorqueMinimizationProxy : public TaskMap, public Instantiable<JointTorqueMinimizationProxyInitializer>
{
public:
    void Instantiate(const JointTorqueMinimizationProxyInitializer& 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;
 
    Eigen::Matrix<double, 6, 1> get_h() const;
 
    void set_h(const Eigen::Matrix<double, 6, 1>& h_in);
 
private:
    Eigen::Matrix<double, 6, 1> h_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_JOINT_TORQUE_MINIMIZATION_PROXY_H_