point_to_line.h

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#ifndef EXOTICA_CORE_TASK_MAPS_POINT_TO_LINE_H_
#define EXOTICA_CORE_TASK_MAPS_POINT_TO_LINE_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/point_to_line_initializer.h>

namespace exotica
{
class PointToLine : public TaskMap, public Instantiable<PointToLineInitializer>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    PointToLine();
    virtual ~PointToLine();

    void Instantiate(const PointToLineInitializer& init) override;

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

    Eigen::Vector3d GetEndPoint();
    void SetEndPoint(const Eigen::Vector3d& point);

private:
    Eigen::Vector3d Direction(const Eigen::Vector3d& point);

    Eigen::Vector3d line_start_;  
    Eigen::Vector3d line_end_;    
    Eigen::Vector3d line_;        
    bool infinite_;               

    std::string link_name_;  
    std::string base_name_;  

    ros::Publisher pub_marker_;        
    ros::Publisher pub_marker_label_;  

    bool visualize_;
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_POINT_TO_LINE_H_