VectorFieldUtil.hpp

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#ifndef AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDUTIL_HPP_
#define AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDUTIL_HPP_
 
#include <dart/dynamics/BodyNode.hpp>
 
#include "aikido/common/Spline.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"
 
namespace aikido {
namespace planner {
namespace vectorfield {
 
bool computeJointVelocityFromTwist(
    Eigen::VectorXd& jointVelocity,
    const Eigen::Vector6d& desiredTwist,
    const ::dart::dynamics::MetaSkeletonPtr metaSkeleton,
    const ::dart::dynamics::ConstBodyNodePtr bodyNode,
    double jointLimitPadding,
    const Eigen::VectorXd& jointVelocityLowerLimits,
    const Eigen::VectorXd& jointVelocityUpperLimits,
    bool enforceJointVelocityLimits,
    double stepSize);
 
Eigen::Vector6d computeGeodesicTwist(
    const Eigen::Isometry3d& fromTrans, const Eigen::Isometry3d& toTrans);
 
Eigen::Vector4d computeGeodesicError(
    const Eigen::Isometry3d& fromTrans, const Eigen::Isometry3d& toTrans);
 
double computeGeodesicDistance(
    const Eigen::Isometry3d& fromTrans,
    const Eigen::Isometry3d& toTrans,
    double r);
 
} // namespace vectorfield
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDUTIL_HPP_