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30 #ifndef EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_BACKWARD_DIFFERENCE_H_
31 #define EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_BACKWARD_DIFFERENCE_H_
35 #include <exotica_core_task_maps/joint_velocity_backward_difference_initializer.h>
72 #endif // EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_BACKWARD_DIFFERENCE_H_
Definition: task_map.h:52
double backward_difference_params_
Binomial coefficient parameters.
Definition: joint_velocity_backward_difference.h:64
Definition: property.h:110
Time-derivative estimation by backward differencing. JointVelocityBackwardDifference uses backward di...
Definition: joint_velocity_backward_difference.h:48
Definition: cartpole_dynamics_solver.h:38
void SetPreviousJointState(Eigen::VectorXdRefConst joint_state)
Logs previous joint state. SetPreviousJointState must be called after solve is called in a Python/C++...
void AssignScene(ScenePtr scene) override
std::shared_ptr< Scene > ScenePtr
Definition: scene.h:246
Eigen::Ref< Eigen::VectorXd > VectorXdRef
Definition: conversions.h:54
const typedef Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Convenience wrapper for storing references to sub-matrices/vectors.
Definition: conversions.h:52
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
Definition: conversions.h:55
Eigen::VectorXd q_
Log of previous joint state.
Definition: joint_velocity_backward_difference.h:66
Eigen::MatrixXd I_
Identity matrix.
Definition: joint_velocity_backward_difference.h:68
Eigen::VectorXd qbd_
x+qbd_ is a simplified estimate of the first time derivative.
Definition: joint_velocity_backward_difference.h:67
int N_
Number of dofs for robot.
Definition: joint_velocity_backward_difference.h:65
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
int TaskSpaceDim() override