MoveEndEffectorPoseVectorField.hpp

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#ifndef AIKIDO_PLANNER_VECTORFIELD_MOVEENDEFFECTORPOSEVECTORFIELD_HPP_
#define AIKIDO_PLANNER_VECTORFIELD_MOVEENDEFFECTORPOSEVECTORFIELD_HPP_
 
#include <limits>
 
#include "aikido/planner/vectorfield/BodyNodePoseVectorField.hpp"
 
namespace aikido {
namespace planner {
namespace vectorfield {
 
class MoveEndEffectorPoseVectorField : public BodyNodePoseVectorField
{
public:
  MoveEndEffectorPoseVectorField(
      aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      ::dart::dynamics::MetaSkeletonPtr metaskeleton,
      ::dart::dynamics::ConstBodyNodePtr bn,
      const Eigen::Isometry3d& goalPose,
      double goalTolerance,
      double r,
      double positionTolerance,
      double angularTolerance,
      double maxStepSize,
      double jointLimitPadding);
 
  // Documentation inherited.
  bool evaluateCartesianVelocity(
      const Eigen::Isometry3d& pose,
      Eigen::Vector6d& cartesianVelocity) const override;
 
  // Documentation inherited.
  VectorFieldPlannerStatus evaluateCartesianStatus(
      const Eigen::Isometry3d& pose) const override;
 
protected:
  Eigen::Isometry3d mGoalPose;
 
  double mGoalTolerance;
 
  double mConversionRatioFromRadianToMeter;
 
  double mPositionTolerance;
 
  double mAngularTolerance;
 
  Eigen::Isometry3d mStartPose;
 
  Eigen::Vector6d mDesiredTwist;
  Eigen::Vector3d mDirection;
  Eigen::Vector3d mRotation;
 
  std::shared_ptr<double> mLastPoseError;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace vectorfield
} // namespace planner
} // namespace aikido
 
#endif // ifndef
       // AIKIDO_PLANNER_VECTORFIELD_MOVEENDEFFECTORPOSEVECTORFIELD_HPP_