PotentialField.hpp

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#pragma once
 
#include <Eigen/Core>
#include <stdexcept>
#include <memory>
 
namespace wbc{

class PotentialField{
public:
    PotentialField(const uint _dimension, const std::string& _name = "unset")
        : dimension(_dimension),
          name(_name){
        assert(dimension > 0);
        influence_distance = std::numeric_limits<double>::infinity(); //Initialize with inifinite maximum influence distance
        distance.setConstant(dimension, std::numeric_limits<double>::quiet_NaN());
        gradient.setConstant(dimension, std::numeric_limits<double>::quiet_NaN());
        pot_field_center.setConstant(dimension, std::numeric_limits<double>::quiet_NaN());
    }
 
    virtual ~PotentialField(){}

    virtual const Eigen::VectorXd& update(const Eigen::VectorXd &position) = 0;

    uint dimension;

    double influence_distance;

    Eigen::VectorXd distance;

    Eigen::VectorXd pot_field_center;

    Eigen::VectorXd gradient;

    const std::string name;
};
 
typedef std::shared_ptr<PotentialField> PotentialFieldPtr;
 
}