unconstrained_end_pose_problem.h

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#ifndef EXOTICA_CORE_UNCONSTRAINED_END_POSE_PROBLEM_H_
#define EXOTICA_CORE_UNCONSTRAINED_END_POSE_PROBLEM_H_

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

#include <exotica_core/unconstrained_end_pose_problem_initializer.h>

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

    void Instantiate(const UnconstrainedEndPoseProblemInitializer& init) override;
    void Update(Eigen::VectorXdRefConst x);

    bool IsValid() override { return true; }
    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) const;
    double GetRho(const std::string& task_name) const;
    Eigen::VectorXd GetNominalPose() const;
    void SetNominalPose(Eigen::VectorXdRefConst qNominal_in);
    void PreUpdate() override;
    int GetTaskId(const std::string& task_name) const;

    double GetScalarCost() const;
    Eigen::RowVectorXd GetScalarJacobian() const;

    double GetScalarTaskCost(const std::string& task_name) const;

    EndPoseTask cost;

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

    int length_Phi;
    int length_jacobian;
    int num_tasks;
};
typedef std::shared_ptr<exotica::UnconstrainedEndPoseProblem> UnconstrainedEndPoseProblemPtr;
}  // namespace exotica

#endif  // EXOTICA_CORE_UNCONSTRAINED_END_POSE_PROBLEM_H_