inverse_kinematics_hyq2.h

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#ifndef XPP_VIS_INVERSEKINEMATICS_HYQ2_H_
#define XPP_VIS_INVERSEKINEMATICS_HYQ2_H_

#include <xpp_vis/inverse_kinematics.h>
#include <xpp_hyq/hyqleg_inverse_kinematics.h>


namespace xpp {

class InverseKinematicsHyq2 : public InverseKinematics {
public:
  InverseKinematicsHyq2() = default;
  virtual ~InverseKinematicsHyq2() = default;

  Joints GetAllJointAngles(const EndeffectorsPos& pos_B) const override;

  int GetEECount() const override { return 2; };

private:
  HyqlegInverseKinematics leg;
};

} /* namespace xpp  */

#endif /* XPP_VIS_INVERSEKINEMATICS_HYQ2_H_ */