joint_jerk_backward_difference.h

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#ifndef EXOTICA_CORE_TASK_MAPS_JOINT_JERK_BACKWARD_DIFFERENCE_H_
#define EXOTICA_CORE_TASK_MAPS_JOINT_JERK_BACKWARD_DIFFERENCE_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/joint_jerk_backward_difference_initializer.h>

namespace exotica
{
class JointJerkBackwardDifference : public TaskMap, public Instantiable<JointJerkBackwardDifferenceInitializer>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    void AssignScene(ScenePtr scene) override;

    void SetPreviousJointState(Eigen::VectorXdRefConst joint_state);

    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override;
    int TaskSpaceDim() override;

private:
    int N_;                                       
    Eigen::Vector3d backward_difference_params_;  
    Eigen::MatrixXd q_;                           
    Eigen::VectorXd qbd_;                         
    Eigen::MatrixXd I_;                           
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_JOINT_JERK_BACKWARD_DIFFERENCE_H_