20 #ifndef KATANAKINEMATICS_H 21 #define KATANAKINEMATICS_H 85 virtual void init(metrics
const& length, parameter_container
const& parameters) = 0;
92 virtual void DK(coordinates& solution, encoders
const& current_encoders)
const = 0;
102 virtual void IK(encoders::iterator solution, coordinates
const&
pose, encoders
const& cur_angles)
const = 0;
std::vector< double > angles
Being used to store angles (in radian).
std::vector< KinematicParameters > parameter_container
The base class for all kinematic implementations.
std::vector< double > coordinates
To store coordinates.
std::vector< int > encoders
To store encoders.
virtual ~KatanaKinematics()
std::vector< double > metrics
To store metrics, 'aka' the length's of the different segments of the robot.