PositionFunction.h

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#pragma once
 
#include <tvm/function/abstract/Function.h>
#include <tvm/robot/Frame.h>
 
namespace tvm
{
 
namespace robot
{
 
class TVM_DLLAPI PositionFunction : public function::abstract::Function
{
public:
  SET_UPDATES(PositionFunction, Value, Velocity, Jacobian, NormalAcceleration)
 
  
  PositionFunction(FramePtr frame);
 
  void reset();
 
  inline const Eigen::Vector3d & position() const { return pos_; }
 
  inline void position(const Eigen::Vector3d & pos) { pos_ = pos; }
 
protected:
  void updateValue();
  void updateVelocity();
  void updateJacobian();
  void updateNormalAcceleration();
 
  FramePtr frame_;
 
  Eigen::Vector3d pos_;
};
 
} // namespace robot
 
} // namespace tvm