inverse_kinematics.h
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00002 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
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00029 
00030 #ifndef XPP_VIS_INVERSE_KINEMATICS_H_
00031 #define XPP_VIS_INVERSE_KINEMATICS_H_
00032 
00033 #include <Eigen/Dense>
00034 #include <memory>
00035 
00036 #include <xpp_states/endeffectors.h>
00037 #include <xpp_states/joints.h>
00038 
00039 namespace xpp {
00040 
00048 class InverseKinematics {
00049 public:
00050   using Ptr      = std::shared_ptr<InverseKinematics>;
00051   using Vector3d = Eigen::Vector3d;
00052 
00053   InverseKinematics () = default;
00054   virtual ~InverseKinematics () = default;
00055 
00061   virtual Joints GetAllJointAngles(const EndeffectorsPos& pos_b) const = 0;
00062 
00066   virtual int GetEECount() const = 0;
00067 };
00068 
00069 } /* namespace xpp */
00070 
00071 #endif /* XPP_VIS_INVERSE_KINEMATICS_H_ */


xpp_vis
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 5 2019 02:55:52