collision_check.h

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//
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#ifndef EXOTICA_CORE_TASK_MAPS_COLLISION_CHECK_H_
#define EXOTICA_CORE_TASK_MAPS_COLLISION_CHECK_H_
 
#include <exotica_core/task_map.h>
 
#include <exotica_core_task_maps/collision_check_initializer.h>
 
namespace exotica
{
class CollisionCheck : public TaskMap, public Instantiable<CollisionCheckInitializer>
{
public:
    void AssignScene(ScenePtr scene) override;
 
    void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
    int TaskSpaceDim() override;
 
private:
    void Initialize();
 
    CollisionScenePtr cscene_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TASK_MAPS_COLLISION_CHECK_H_