treeiksolver.hpp

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/*
 * treeiksolver.hpp
 *
 *  Created on: Nov 28, 2008
 *      Author: rubensmits
 */

#ifndef TREEIKSOLVER_HPP_
#define TREEIKSOLVER_HPP_

#include "tree.hpp"
#include "jntarray.hpp"
#include "frames.hpp"
#include <map>

namespace KDL {

typedef std::map<std::string, Twist> Twists;
typedef std::map<std::string, Jacobian> Jacobians;
typedef std::map<std::string, Frame> Frames;

class TreeIkSolverPos {
public:
    virtual double CartToJnt(const JntArray& q_init, const Frames& p_in,JntArray& q_out)=0;
    
    virtual ~TreeIkSolverPos() {
    }
    ;
};

class TreeIkSolverVel {
public:
    virtual double CartToJnt(const JntArray& q_in, const Twists& v_in, JntArray& qdot_out)=0;

    virtual ~TreeIkSolverVel() {
    }
    ;

};

}

#endif /* TREEIKSOLVER_HPP_ */