quasi_static.h

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#ifndef EXOTICA_CORE_TASK_MAPS_QUASI_STATIC_H_
#define EXOTICA_CORE_TASK_MAPS_QUASI_STATIC_H_

#include <exotica_core/kinematic_tree.h>
#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/quasi_static_initializer.h>

#include <visualization_msgs/MarkerArray.h>

namespace exotica
{
class QuasiStatic : public TaskMap, public Instantiable<QuasiStaticInitializer>
{
public:
    QuasiStatic();
    virtual ~QuasiStatic();

    void AssignScene(ScenePtr scene) 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;

private:
    void Initialize();

    visualization_msgs::MarkerArray debug_msg_;
    ros::Publisher debug_pub_;
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_QUASI_STATIC_H_