point_to_plane.h

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//
// Copyright (c) 2018-2020, Wolfgang Merkt, University of Oxford
// All rights reserved.
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#ifndef EXOTICA_CORE_TASK_MAPS_POINT_TO_PLANE_H_
#define EXOTICA_CORE_TASK_MAPS_POINT_TO_PLANE_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/point_to_plane_initializer.h>

#include <visualization_msgs/MarkerArray.h>

namespace exotica
{
class PointToPlane : public TaskMap, public Instantiable<PointToPlaneInitializer>
{
public:
    void Instantiate(const PointToPlaneInitializer &init) override;

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

private:
    void PublishDebug();
    ros::Publisher debug_pub_;
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_POINT_TO_PLANE_H_