.. _program_listing_file__tmp_ws_src_rt_manipulators_cpp_rt_manipulators_lib_include_kinematics.hpp:

Program Listing for File kinematics.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rt_manipulators_cpp_rt_manipulators_lib_include_kinematics.hpp>` (``/tmp/ws/src/rt_manipulators_cpp/rt_manipulators_lib/include/kinematics.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RT Corporation
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RT_MANIPULATORS_LIB_INCLUDE_KINEMATICS_HPP_
   #define RT_MANIPULATORS_LIB_INCLUDE_KINEMATICS_HPP_
   
   #include <eigen3/Eigen/Dense>
   #include <vector>
   
   #include "kinematics_utils.hpp"
   #include "link.hpp"
   
   namespace kinematics {
   
   void forward_kinematics(std::vector<manipulators_link::Link> & links, const int & start_id);
   bool inverse_kinematics_LM(
     const kinematics_utils::links_t & links, const kinematics_utils::link_id_t & target_id,
     const Eigen::Vector3d & target_p, const Eigen::Matrix3d & target_R,
     kinematics_utils::q_list_t & result_q_list);
   }  // namespace kinematics
   
   #endif  // RT_MANIPULATORS_LIB_INCLUDE_KINEMATICS_HPP_