30 #ifndef EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_CONSTRAINT_H_ 31 #define EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_CONSTRAINT_H_ 35 #include <exotica_core_task_maps/joint_velocity_limit_constraint_initializer.h> 68 #endif // EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_LIMIT_CONSTRAINT_H_ void SetPreviousJointState(Eigen::VectorXdRefConst joint_state)
Logs current joint state. SetPreviousJointState must be called after solve is called in a Python/C++ ...
int N_
Number of dofs for robot.
Eigen::VectorXd joint_velocity_limits_
The joint velocity limits for the robot.
Eigen::Ref< Eigen::VectorXd > VectorXdRef
std::shared_ptr< Scene > ScenePtr
int two_times_N_
Two multiplied by the number of dofs for robot (task space dimension).
Joint velocity limit task map for non time-indexed problems.
Eigen::VectorXd current_joint_state_
Log of current joint state.
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
void AssignScene(ScenePtr scene) override
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
double one_divided_by_dt_
Frequency (1/dt).
int TaskSpaceDim() override
Eigen::MatrixXd jacobian_
Task map jacobian matrix.