eff_box.h

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//
// Copyright (c) 2019, Christopher E. Mower
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#ifndef EXOTICA_CORE_TASK_MAPS_EFF_BOX_H_
#define EXOTICA_CORE_TASK_MAPS_EFF_BOX_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/eff_box_initializer.h>
#include <exotica_core_task_maps/frame_with_box_limits_initializer.h>

namespace exotica
{
class EffBox : public TaskMap, public Instantiable<EffBoxInitializer>
{
public:
    void Instantiate(const EffBoxInitializer& init) override;  // TODO: Allow user to use task map as both a cost term and inequality constraint
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override;
    int TaskSpaceDim() override;

    void PublishObjectsAsMarkerArray();

    Eigen::Vector3d GetLowerLimit(const int eff_id) const;
    Eigen::Vector3d GetUpperLimit(const int eff_id) const;

private:
    Eigen::VectorXd eff_lower_;   
    Eigen::VectorXd eff_upper_;   
    int n_effs_;                  
    int three_times_n_effs_;      
    ros::Publisher pub_markers_;  
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_EFF_BOX_H_