Exotica
smooth_collision_distance.h
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29 
30 #ifndef EXOTICA_CORE_TASK_MAPS_SMOOTH_COLLISION_DISTANCE_H_
31 #define EXOTICA_CORE_TASK_MAPS_SMOOTH_COLLISION_DISTANCE_H_
32 
33 #include <algorithm>
34 #include <cmath>
35 
36 #include <exotica_core/task_map.h>
37 
38 #include <exotica_core_task_maps/smooth_collision_distance_initializer.h>
39 
40 namespace exotica
41 {
42 class SmoothCollisionDistance : public TaskMap, public Instantiable<SmoothCollisionDistanceInitializer>
43 {
44 public:
45  void AssignScene(ScenePtr scene) override;
46 
49 
50  int TaskSpaceDim() override;
51 
52 private:
53  void Initialize();
54 
55  double robot_margin_ = 0.0;
56  double world_margin_ = 0.0;
57  bool linear_ = false;
58  bool check_self_collision_ = true;
59 
60  const unsigned int dim_ = 1;
62 
63  void UpdateInternal(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian = true);
64 };
65 } // namespace exotica
66 
67 #endif // EXOTICA_CORE_TASK_MAPS_SMOOTH_COLLISION_DISTANCE_H_
exotica::SmoothCollisionDistance::robot_margin_
double robot_margin_
Definition: smooth_collision_distance.h:55
exotica::TaskMap
Definition: task_map.h:52
exotica::SmoothCollisionDistance::UpdateInternal
void UpdateInternal(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian=true)
exotica::SmoothCollisionDistance::TaskSpaceDim
int TaskSpaceDim() override
exotica::SmoothCollisionDistance::cscene_
CollisionScenePtr cscene_
Definition: smooth_collision_distance.h:61
exotica::SmoothCollisionDistance::Update
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
exotica::Instantiable
Definition: property.h:110
exotica::SmoothCollisionDistance
Definition: smooth_collision_distance.h:42
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::SmoothCollisionDistance::dim_
const unsigned int dim_
Definition: smooth_collision_distance.h:60
exotica::SmoothCollisionDistance::Initialize
void Initialize()
exotica::SmoothCollisionDistance::check_self_collision_
bool check_self_collision_
Definition: smooth_collision_distance.h:58
exotica::ScenePtr
std::shared_ptr< Scene > ScenePtr
Definition: scene.h:246
Eigen::VectorXdRef
Eigen::Ref< Eigen::VectorXd > VectorXdRef
Definition: conversions.h:54
Eigen::VectorXdRefConst
const typedef Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Convenience wrapper for storing references to sub-matrices/vectors.
Definition: conversions.h:52
exotica::SmoothCollisionDistance::AssignScene
void AssignScene(ScenePtr scene) override
Eigen::MatrixXdRef
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
Definition: conversions.h:55
exotica::SmoothCollisionDistance::world_margin_
double world_margin_
Definition: smooth_collision_distance.h:56
exotica::CollisionScenePtr
std::shared_ptr< CollisionScene > CollisionScenePtr
Definition: collision_scene.h:341
task_map.h
exotica::SmoothCollisionDistance::linear_
bool linear_
Definition: smooth_collision_distance.h:57