30 #ifndef EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_BACKWARD_DIFFERENCE_H_ 31 #define EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_BACKWARD_DIFFERENCE_H_ 35 #include <exotica_core_task_maps/joint_velocity_backward_difference_initializer.h> 72 #endif // EXOTICA_CORE_TASK_MAPS_JOINT_VELOCITY_BACKWARD_DIFFERENCE_H_ Time-derivative estimation by backward differencing. JointVelocityBackwardDifference uses backward di...
double backward_difference_params_
Binomial coefficient parameters.
Eigen::Ref< Eigen::VectorXd > VectorXdRef
void AssignScene(ScenePtr scene) override
std::shared_ptr< Scene > ScenePtr
int N_
Number of dofs for robot.
Eigen::MatrixXd I_
Identity matrix.
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
int TaskSpaceDim() override
void SetPreviousJointState(Eigen::VectorXdRefConst joint_state)
Logs previous joint state. SetPreviousJointState must be called after solve is called in a Python/C++...
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
Eigen::VectorXd q_
Log of previous joint state.
Eigen::VectorXd qbd_
x+qbd_ is a simplified estimate of the first time derivative.