aubo_kin.h
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00001 #ifndef AUBO_KIN_H
00002 #define AUBO_KIN_H
00003 
00004 
00005 namespace aubo_kinematics {
00006   // @param q       The 6 joint values 
00007   // @param T       The 4x4 end effector pose in row-major ordering
00008   void forward(const double* q, double* T);
00009 
00010 
00011   // @param T       The 4x4 end effector pose in row-major ordering
00012   // @param q_sols  An 8x6 array of doubles returned, all angles should be in [0,2*PI)
00013   // @return        Number of solutions found (maximum of 8)
00014   int inverse(const double* T,  double* q_sols);
00015 };
00016 
00017 #endif //AUBO_KIN_H


aubo_kinematics
Author(s): liuxin
autogenerated on Wed Sep 6 2017 03:06:35