inverse_kinematics_hyq4.h

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#ifndef XPP_VIS_INVERSEKINEMATICS_HYQ4_H_
#define XPP_VIS_INVERSEKINEMATICS_HYQ4_H_

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

namespace xpp {

class InverseKinematicsHyq4 : public InverseKinematics {
public:
  InverseKinematicsHyq4() = default;
  virtual ~InverseKinematicsHyq4() = default;

  Joints GetAllJointAngles(const EndeffectorsPos& pos_b) const override;

  int GetEECount() const override { return 4; };

private:
  Vector3d base2hip_LF_ = Vector3d(0.3735, 0.207, 0.0);
  HyqlegInverseKinematics leg;
};

} /* namespace xpp */

#endif /* XPP_VIS_INVERSEKINEMATICS_HYQ4_H_ */