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