task_space_vector.h

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#ifndef EXOTICA_CORE_TASK_SPACE_VECTOR_H_
#define EXOTICA_CORE_TASK_SPACE_VECTOR_H_
 
#include <exotica_core/tools/conversions.h>
#include <Eigen/Dense>
#include <kdl/frames.hpp>
#include <vector>
 
namespace exotica
{
struct TaskVectorEntry
{
    RotationType type = RotationType::RPY;
    int id = 0;
 
    TaskVectorEntry();
    TaskVectorEntry(int _id, RotationType _type);
    static std::vector<TaskVectorEntry> reindex(const std::vector<TaskVectorEntry>& _map, int _old_start, int _new_start);
};
 
struct TaskSpaceVector
{
    TaskSpaceVector();
    ~TaskSpaceVector();
    TaskSpaceVector& operator=(std::initializer_list<double> other);
    Eigen::VectorXd operator-(const TaskSpaceVector& other);
    void SetZero(const int n);
 
    Eigen::VectorXd data;
    std::vector<TaskVectorEntry> map;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_SPACE_VECTOR_H_