28 #ifndef KDLCHAINIKSOLVERPOS_NR_JL_Mimic_HPP 29 #define KDLCHAINIKSOLVERPOS_NR_JL_Mimic_HPP 31 #include "kdl/chainiksolver.hpp" 32 #include "kdl/chainfksolver.hpp"
void qMimicToq(const JntArray &q, JntArray &q_result)
ChainIkSolverPos_NR_JL_Mimic(const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6, bool position_ik=false)
ChainIkSolverVel & iksolver
virtual int CartToJntAdvanced(const JntArray &q_init, const Frame &p_in, JntArray &q_out, bool lock_redundant_joints)
std::vector< kdl_kinematics_plugin::JointMimic > mimic_joints
void qToqMimic(const JntArray &q, JntArray &q_result)
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
bool setMimicJoints(const std::vector< kdl_kinematics_plugin::JointMimic > &mimic_joints)
ChainFkSolverPos & fksolver
~ChainIkSolverPos_NR_JL_Mimic()