30 #ifndef EXOTICA_CORE_TASK_MAPS_COLLISION_DISTANCE_H_ 31 #define EXOTICA_CORE_TASK_MAPS_COLLISION_DISTANCE_H_ 38 #include <exotica_core_task_maps/collision_distance_initializer.h> 70 #endif // EXOTICA_CORE_TASK_MAPS_COLLISION_DISTANCE_H_ CollisionScenePtr cscene_
std::vector< std::string > robot_joints_
bool check_self_collision_
int TaskSpaceDim() override
void AssignScene(ScenePtr scene) override
Eigen::Ref< Eigen::VectorXd > VectorXdRef
std::vector< CollisionProxy > closest_proxies_
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
std::shared_ptr< Scene > ScenePtr
void UpdateInternal(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian=true)
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
std::shared_ptr< CollisionScene > CollisionScenePtr
std::map< std::string, std::vector< std::string > > controlled_joint_to_collision_link_map_
std::vector< CollisionProxy > get_collision_proxies()