darwin_kinematics_alg.cpp

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#include "darwin_kinematics_alg.h"

DarwinKinematicsAlgorithm::DarwinKinematicsAlgorithm(void):
  left_arm(LEFT_ARM),
  right_arm(RIGHT_ARM)
{
}

DarwinKinematicsAlgorithm::~DarwinKinematicsAlgorithm(void)
{
}

void DarwinKinematicsAlgorithm::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

  // save the current configuration
  this->config_=new_cfg;
  
  this->unlock();
}

// DarwinKinematicsAlgorithm Public API
std::vector<double> DarwinKinematicsAlgorithm::get_left_arm_fk(std::vector<double> &angles)
{
  return this->left_arm.get_fk(angles);
}

bool DarwinKinematicsAlgorithm::get_left_arm_ik(std::vector<double> &position, std::vector<double> &init_angles,std::vector<double> &solution)
{
  return this->left_arm.get_ik(position,init_angles,solution);
}

void DarwinKinematicsAlgorithm::get_left_arm_upper_limits(std::vector<double> &upper)
{
  this->left_arm.get_upper_limits(upper);
}

void DarwinKinematicsAlgorithm::get_left_arm_lower_limits(std::vector<double> &lower)
{
  this->left_arm.get_lower_limits(lower);
}

std::vector<double> DarwinKinematicsAlgorithm::get_right_arm_fk(std::vector<double> &angles)
{
  return this->right_arm.get_fk(angles);
}

bool DarwinKinematicsAlgorithm::get_right_arm_ik(std::vector<double> &position, std::vector<double> &init_angles,std::vector<double> &solution)
{
  return this->right_arm.get_ik(position,init_angles,solution);
}

void DarwinKinematicsAlgorithm::get_right_arm_upper_limits(std::vector<double> &upper)
{
  this->right_arm.get_upper_limits(upper);
}

void DarwinKinematicsAlgorithm::get_right_arm_lower_limits(std::vector<double> &lower)
{
  this->right_arm.get_lower_limits(lower);
}