eff_frame.h

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#ifndef EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_
#define EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/eff_frame_initializer.h>

namespace exotica
{
class EffFrame : public TaskMap, public Instantiable<EffFrameInitializer>
{
public:
    void Instantiate(const EffFrameInitializer& init) override;

    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override;

    int TaskSpaceDim() override;
    int TaskSpaceJacobianDim() override;

    std::vector<TaskVectorEntry> GetLieGroupIndices() override;
    const RotationType& get_rotation_type() const;

private:
    int big_stride_;
    int small_stride_;
    RotationType rotation_type_ = RotationType::RPY;
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_