39 for (std::size_t i = 0; i <
joint_map_.size(); ++i)
49 for (std::size_t i = 0; i <
joint_map_.size(); ++i)
74 for (
int i = 0; i <
parameters_.JointMap.rows(); ++i)
int TaskSpaceDim() override
int num_controlled_joints_
std::vector< int > joint_map_
! Number of controlled joints
Eigen::Ref< Eigen::VectorXd > VectorXdRef
REGISTER_TASKMAP_TYPE("JointPose", exotica::JointPose)
void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override
const std::vector< int > & get_joint_map() const
std::shared_ptr< Scene > ScenePtr
void set_joint_ref(Eigen::VectorXdRefConst ref)
Eigen::VectorXd joint_ref_
! Subset selection matrix
JointPoseInitializer parameters_
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Eigen::Ref< Hessian > HessianRef
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
const Eigen::VectorXd & get_joint_ref() const
void AssignScene(ScenePtr scene) override
void Initialize()
! Joint reference value