smooth_collision_distance.h

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//
// Copyright (c) 2017, Wolfgang Merkt
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#ifndef EXOTICA_CORE_TASK_MAPS_SMOOTH_COLLISION_DISTANCE_H_
#define EXOTICA_CORE_TASK_MAPS_SMOOTH_COLLISION_DISTANCE_H_

#include <algorithm>
#include <cmath>

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/smooth_collision_distance_initializer.h>

namespace exotica
{
class SmoothCollisionDistance : public TaskMap, public Instantiable<SmoothCollisionDistanceInitializer>
{
public:
    void AssignScene(ScenePtr scene) override;

    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J) override;

    int TaskSpaceDim() override;

private:
    void Initialize();

    double robot_margin_ = 0.0;
    double world_margin_ = 0.0;
    bool linear_ = false;
    bool check_self_collision_ = true;

    const unsigned int dim_ = 1;
    CollisionScenePtr cscene_;

    void UpdateInternal(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian = true);
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_SMOOTH_COLLISION_DISTANCE_H_