avoid_look_at_sphere.h

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//
// Copyright (c) 2019, Christopher E. Mower
// All rights reserved.
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#ifndef EXOTICA_CORE_TASK_MAPS_AVOID_LOOK_AT_SPHERE_H_
#define EXOTICA_CORE_TASK_MAPS_AVOID_LOOK_AT_SPHERE_H_

#include <exotica_core/task_map.h>

#include <exotica_core_task_maps/avoid_look_at_sphere_initializer.h>

namespace exotica
{
class AvoidLookAtSphere : public TaskMap, public Instantiable<AvoidLookAtSphereInitializer>
{
public:
    void Instantiate(const AvoidLookAtSphereInitializer& 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:
    void UpdateAsCostWithoutJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi);
    void UpdateAsInequalityConstraintWithoutJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi);
    void UpdateAsCostWithJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian);
    void UpdateAsInequalityConstraintWithJacobian(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian);

    void PublishObjectsAsMarkerArray();

    void (AvoidLookAtSphere::*UpdateTaskMapWithoutJacobian)(Eigen::VectorXdRefConst, Eigen::VectorXdRef);
    void (AvoidLookAtSphere::*UpdateTaskMapWithJacobian)(Eigen::VectorXdRefConst, Eigen::VectorXdRef, Eigen::MatrixXdRef);
    int n_objects_;                  
    Eigen::VectorXd diameter_;       
    Eigen::VectorXd radii_squared_;  
    ros::Publisher pub_markers_;     
};
}  // namespace exotica

#endif  // EXOTICA_CORE_TASK_MAPS_AVOID_LOOK_AT_SPHERE_H_