variable_size_collision_distance.h

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#ifndef EXOTICA_CORE_TASK_MAPS_VARIABLE_SIZE_COLLISION_DISTANCE_H_
#define EXOTICA_CORE_TASK_MAPS_VARIABLE_SIZE_COLLISION_DISTANCE_H_
 
#include <algorithm>
#include <cmath>
#include <limits>
 
#include <exotica_core/task_map.h>
#include <exotica_core_task_maps/variable_size_collision_distance_initializer.h>
 
namespace exotica
{
class VariableSizeCollisionDistance : public TaskMap, public Instantiable<VariableSizeCollisionDistanceInitializer>
{
public:
    void AssignScene(ScenePtr scene) override;
 
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J) override;
    int TaskSpaceDim() override;
 
private:
    void Initialize();
    double world_margin_;
 
    std::size_t dim_;
    CollisionScenePtr cscene_;
 
    void UpdateInternal(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian = true);
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_VARIABLE_SIZE_COLLISION_DISTANCE_H_