text: //
  // Copyright (c) 2018, University of Edinburgh
  // All rights reserved.
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are met:
  //
  //  * Redistributions of source code must retain the above copyright notice,
  //    this list of conditions and the following disclaimer.
  //  * Redistributions in binary form must reproduce the above copyright
  //    notice, this list of conditions and the following disclaimer in the
  //    documentation and/or other materials provided with the distribution.
  //  * Neither the name of  nor the names of its contributors may be used to
  //    endorse or promote products derived from this software without specific
  //    prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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  // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  // POSSIBILITY OF SUCH DAMAGE.
  //
  
  #ifndef EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_
  #define EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_
  
  #include <exotica_core/task_map.h>
  
  #include <exotica_core_task_maps/eff_frame_initializer.h>
  
  namespace exotica
  {
  class EffFrame : public TaskMap, public Instantiable<EffFrameInitializer>
  {
  public:
      void Instantiate(const EffFrameInitializer& init) override;
  
      void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override;
      void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override;
      int TaskSpaceDim() override;
      int TaskSpaceJacobianDim() override;
  
      std::vector<TaskVectorEntry> GetLieGroupIndices() override;
      RotationType rotation_type_ = RotationType::RPY;  // TODO: Make private with getter
  
  private:
      int big_stride_;
      int small_stride_;
  };
  }  // namespace exotica
  
  #endif  // EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_
  