manipulability.h

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#ifndef EXOTICA_CORE_TASK_MAPS_MANIPULABILITY_H_
#define EXOTICA_CORE_TASK_MAPS_MANIPULABILITY_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/manipulability_initializer.h>

namespace exotica
{
class Manipulability : public TaskMap, public Instantiable<ManipulabilityInitializer>
{
public:
    void Instantiate(const ManipulabilityInitializer& init) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    int TaskSpaceDim() override;

private:
    int n_end_effs_;     
    int n_rows_of_jac_;  
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_MANIPULABILITY_H_