sphere_collision.h

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#ifndef EXOTICA_CORE_TASK_MAPS_SPHERE_COLLISION_H_
#define EXOTICA_CORE_TASK_MAPS_SPHERE_COLLISION_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/sphere_collision_initializer.h>
#include <exotica_core_task_maps/sphere_initializer.h>

#include <visualization_msgs/Marker.h>

namespace exotica
{
class SphereCollision : public TaskMap, public Instantiable<SphereCollisionInitializer>
{
public:
    void Instantiate(const SphereCollisionInitializer& 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;

private:
    double Distance(const KDL::Frame& eff_A, const KDL::Frame& eff_B, double r_A, double r_B);
    void Jacobian(const KDL::Frame& eff_A, const KDL::Frame& eff_B, const KDL::Jacobian& jacA, const KDL::Jacobian& jacB, double r_A, double r_B, Eigen::Block<Eigen::Ref<Eigen::MatrixXd>, 1, -1, false> ret);

    std::map<std::string, std::vector<int>> groups_;
    std::vector<double> radiuses_;

    visualization_msgs::MarkerArray debug_msg_;
    ros::Publisher debug_pub_;
    double eps_;
    int dim_;
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_SPHERE_COLLISION_H_