manipulability.cpp

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#include <exotica_core_task_maps/manipulability.h>

REGISTER_TASKMAP_TYPE("Manipulability", exotica::Manipulability);

namespace exotica
{
void Manipulability::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi)
{
    if (phi.rows() != TaskSpaceDim()) ThrowNamed("Wrong size of phi!");

    for (int i = 0; i < n_end_effs_; ++i)
    {
        const Eigen::MatrixXd& J = kinematics[0].jacobian[i].data.topRows(n_rows_of_jac_);
        phi(i) = -std::sqrt((J * J.transpose()).determinant());
    }
}

void Manipulability::Instantiate(const ManipulabilityInitializer& init)
{
    parameters_ = init;
    n_end_effs_ = frames_.size();

    if (init.OnlyPosition)
    {
        n_rows_of_jac_ = 3;
    }
    else
    {
        n_rows_of_jac_ = 6;
    }
}

int Manipulability::TaskSpaceDim()
{
    return n_end_effs_;
}
}  // namespace exotica