CoMInConvexFunction.h

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#pragma once
 
#include <tvm/Robot.h>
#include <tvm/geometry/Plane.h>
 
#include <tvm/function/abstract/Function.h>
 
#include <RBDyn/CoM.h>
 
namespace tvm
{
 
namespace robot
{
 
class TVM_DLLAPI CoMInConvexFunction : public function::abstract::Function
{
public:
  SET_UPDATES(CoMInConvexFunction, Value, Velocity, Jacobian, NormalAcceleration)
 
  
  CoMInConvexFunction(RobotPtr robot);
 
  void addPlane(geometry::PlanePtr plane);
 
  void reset();
 
protected:
  void updateValue();
  void updateVelocity();
  void updateJacobian();
  void updateNormalAcceleration();
 
  RobotPtr robot_;
 
  std::vector<geometry::PlanePtr> planes_;
 
  rbd::CoMJacobian jac_;
  Eigen::Vector3d comSpeed_;
};
 
} // namespace robot
 
} // namespace tvm