37 #ifndef KDLCHAINIKSOLVERPOS_LMA_JL_MIMIC_H 38 #define KDLCHAINIKSOLVERPOS_LMA_JL_MIMIC_H 40 #include "kdl/chainiksolverpos_lma.hpp" 41 #include "kdl/chainfksolver.hpp" std::vector< lma_kinematics_plugin::JointMimic > mimic_joints
ChainFkSolverPos & fksolver
void harmonize(JntArray &q_out)
bool obeysLimits(const KDL::JntArray &q_out)
ChainIkSolverPos_LMA_JL_Mimic(const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverPos_LMA &iksolver, unsigned int maxiter=100, double eps=1e-6, bool position_ik=false)
virtual int CartToJntAdvanced(const JntArray &q_init, const Frame &p_in, JntArray &q_out, bool lock_redundant_joints)
void qMimicToq(const JntArray &q, JntArray &q_result)
bool setMimicJoints(const std::vector< lma_kinematics_plugin::JointMimic > &mimic_joints)
void qToqMimic(const JntArray &q, JntArray &q_result)
~ChainIkSolverPos_LMA_JL_Mimic()
ChainIkSolverPos_LMA & iksolver
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)