tool_position.h
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00001 
00026 #ifndef GOAL_TOOL_POSITION_H
00027 #define GOAL_TOOL_POSITION_H
00028 
00029 #include "constrained_ik/constraint.h"
00030 #include "constrained_ik/constraints/goal_position.h"
00031 
00032 namespace constrained_ik
00033 {
00034 namespace constraints
00035 {
00044 class ToolPosition : public GoalPosition
00045 {
00046 public:
00047   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00048   ToolPosition();
00049 
00050   constrained_ik::ConstraintResults evalConstraint(const SolverState &state) const override;
00051 
00059   Eigen::MatrixXd calcJacobian(const GoalPositionData &cdata) const override;
00060 
00068   Eigen::VectorXd calcError(const GoalPositionData &cdata) const override;
00069 
00070 }; // class ToolPosition
00071 
00072 } // namespace constraints
00073 } // namespace constrained_ik
00074 
00075 
00076 #endif // GOAL_TOOL_ORIENTATION_H
00077 


constrained_ik
Author(s): Chris Lewis , Jeremy Zoss , Dan Solomon
autogenerated on Sat Jun 8 2019 19:23:45