distance.h

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#ifndef EXOTICA_CORE_TASK_MAPS_DISTANCE_H_
#define EXOTICA_CORE_TASK_MAPS_DISTANCE_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/distance_initializer.h>

namespace exotica
{
class Distance : public TaskMap, public Instantiable<DistanceInitializer>
{
public:
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override;
    void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override;
    int TaskSpaceDim() override;
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_DISTANCE_H_