30 #ifndef EXOTICA_CORE_TASK_MAPS_JOINT_ACCELERATION_BACKWARD_DIFFERENCE_H_ 31 #define EXOTICA_CORE_TASK_MAPS_JOINT_ACCELERATION_BACKWARD_DIFFERENCE_H_ 35 #include <exotica_core_task_maps/joint_acceleration_backward_difference_initializer.h> 75 #endif // EXOTICA_CORE_TASK_MAPS_JOINT_ACCELERATION_BACKWARD_DIFFERENCE_H_ int TaskSpaceDim() override
Eigen::MatrixXd q_
Log of previous two joint states.
Eigen::Ref< Eigen::VectorXd > VectorXdRef
Eigen::Vector2d backward_difference_params_
Binomial cooeficient parameters.
std::shared_ptr< Scene > ScenePtr
void AssignScene(ScenePtr scene) override
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
void SetPreviousJointState(Eigen::VectorXdRefConst joint_state)
Logs previous joint state. SetPreviousJointState must be called after solve is called in a Python/C++...
Eigen::MatrixXd I_
Identity matrix.
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
int N_
Number of dofs for robot.
Eigen::VectorXd qbd_
x+qbd_ is a simplifed estimate of the second time derivative.
Time-derivative estimation by backward differencing. JointAccelerationBackwardDifference uses backwar...