end_pose_problem.h

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#ifndef EXOTICA_CORE_END_POSE_PROBLEM_H_
#define EXOTICA_CORE_END_POSE_PROBLEM_H_

#include <exotica_core/planning_problem.h>
#include <exotica_core/tasks.h>

#include <exotica_core/end_pose_problem_initializer.h>

namespace exotica
{
class EndPoseProblem : public PlanningProblem, public Instantiable<EndPoseProblemInitializer>
{
public:
    EndPoseProblem();
    virtual ~EndPoseProblem();

    void Instantiate(const EndPoseProblemInitializer& init) override;
    void Update(Eigen::VectorXdRefConst x);
    bool IsValid() override;

    void SetGoal(const std::string& task_name, Eigen::VectorXdRefConst goal);
    void SetRho(const std::string& task_name, const double& rho);
    Eigen::VectorXd GetGoal(const std::string& task_name);
    double GetRho(const std::string& task_name);
    void SetGoalEQ(const std::string& task_name, Eigen::VectorXdRefConst goal);
    void SetRhoEQ(const std::string& task_name, const double& rho);
    Eigen::VectorXd GetGoalEQ(const std::string& task_name);
    double GetRhoEQ(const std::string& task_name);
    void SetGoalNEQ(const std::string& task_name, Eigen::VectorXdRefConst goal);
    void SetRhoNEQ(const std::string& task_name, const double& rho);
    Eigen::VectorXd GetGoalNEQ(const std::string& task_name);
    double GetRhoNEQ(const std::string& task_name);
    void PreUpdate() override;
    Eigen::MatrixXd GetBounds() const;

    double GetScalarCost();
    Eigen::RowVectorXd GetScalarJacobian();
    double GetScalarTaskCost(const std::string& task_name) const;
    Eigen::VectorXd GetEquality();
    Eigen::MatrixXd GetEqualityJacobian();
    Eigen::VectorXd GetInequality();
    Eigen::MatrixXd GetInequalityJacobian();

    EndPoseTask cost;
    EndPoseTask inequality;
    EndPoseTask equality;

    Eigen::MatrixXd W;
    TaskSpaceVector Phi;
    Eigen::MatrixXd jacobian;
    Hessian hessian;

    int length_Phi;
    int length_jacobian;
    int num_tasks;
    bool use_bounds;
};
typedef std::shared_ptr<exotica::EndPoseProblem> EndPoseProblemPtr;
}  // namespace exotica

#endif  // EXOTICA_CORE_END_POSE_PROBLEM_H_