task_map.h

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#ifndef EXOTICA_CORE_TASK_MAP_H_
#define EXOTICA_CORE_TASK_MAP_H_
 
#include <map>
#include <string>
#include <vector>
 
#include <Eigen/Dense>  // Generally dense manipulations should be enough
 
#include <exotica_core/factory.h>  // The Factory template
#include <exotica_core/object.h>   // The EXOTica base class
#include <exotica_core/property.h>
#include <exotica_core/scene.h>
#include <exotica_core/task_space_vector.h>
 
#define REGISTER_TASKMAP_TYPE(TYPE, DERIV) EXOTICA_CORE_REGISTER(exotica::TaskMap, TYPE, DERIV)
 
namespace exotica
{
class TaskMap : public Object, Uncopyable, public virtual InstantiableBase
{
public:
    virtual void InstantiateBase(const Initializer& init);
 
    virtual void AssignScene(ScenePtr scene);
 
    // Kinematic-only task maps (traditional) use the following update methods:
    // x renamed to q in declaration: configuration only
    virtual void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) = 0;
    virtual void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian);
    virtual void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian);
 
    //------------- New TaskMap API -------------
    // x => full state of q,v
    // u => controls
    virtual void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi);
    virtual void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du);
    virtual void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu);
 
    virtual int TaskSpaceDim() = 0;
    virtual int TaskSpaceJacobianDim() { return TaskSpaceDim(); }
    virtual void PreUpdate() {}
    virtual std::vector<TaskVectorEntry> GetLieGroupIndices() { return std::vector<TaskVectorEntry>(); }
    std::vector<KinematicFrameRequest> GetFrames() const;
 
    std::vector<KinematicSolution> kinematics = std::vector<KinematicSolution>(1);
    int id = -1;
    int start = -1;
    int length = -1;
    int start_jacobian = -1;
    int length_jacobian = -1;
    bool is_used = false;
 
protected:
    std::vector<KinematicFrameRequest> frames_;
    ScenePtr scene_ = nullptr;
};
 
// Typedefines for some common functionality
typedef std::shared_ptr<TaskMap> TaskMapPtr;           
typedef std::map<std::string, TaskMapPtr> TaskMapMap;  
typedef std::vector<TaskMapPtr> TaskMapVec;
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAP_H_