joint_velocity_limit_constraint.h

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//
// Copyright (c) 2019, Christopher E. Mower
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#ifndef EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_CONSTRAINT_H_
#define EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_CONSTRAINT_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/joint_velocity_limit_constraint_initializer.h>
 
namespace exotica
{
class JointVelocityLimitConstraint : public TaskMap, public Instantiable<JointVelocityLimitConstraintInitializer>
{
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_;                                  
    int two_times_N_;                        
    Eigen::VectorXd current_joint_state_;    
    Eigen::VectorXd joint_velocity_limits_;  
    double one_divided_by_dt_;               
    Eigen::MatrixXd jacobian_;               
};
 
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_CONSTRAINT_H_