joint_velocity_limit.h

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//
// Copyright (c) 2018, Wolfgang Merkt
// All rights reserved.
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// modification, are permitted provided that the following conditions are met:
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//  * Redistributions in binary form must reproduce the above copyright
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#ifndef EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_H_
#define EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/joint_velocity_limit_initializer.h>
 
namespace exotica
{
class JointVelocityLimit : public TaskMap, public Instantiable<JointVelocityLimitInitializer>
{
public:
    JointVelocityLimit();
    virtual ~JointVelocityLimit();
 
    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;
 
private:
    void Initialize();
 
    double dt_ = 0.1;                                    
    Eigen::VectorXd limits_ = Eigen::VectorXd::Zero(1);  
    Eigen::VectorXd tau_ = Eigen::VectorXd::Zero(1);     
    int N;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_H_