00001 /*************************************************************************** 00002 * Copyright (C) 2006 by Tiziano Mueller * 00003 * tiziano.mueller@neuronics.ch * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the GNU General Public License as published by * 00007 * the Free Software Foundation; either version 2 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the GNU General Public License * 00016 * along with this program; if not, write to the * 00017 * Free Software Foundation, Inc., * 00018 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00019 ***************************************************************************/ 00020 00021 #ifndef KNIKATANAKINEMATICSDECISIONALGORITHMS_H 00022 #define KNIKATANAKINEMATICSDECISIONALGORITHMS_H 00023 00024 #include "common/dllexport.h" 00025 #include <vector> 00026 00027 namespace KNI { 00028 00029 00030 struct DLLDIR_IK KinematicsDefaultEncMinAlgorithm { 00031 typedef std::vector<int> encoders; 00032 typedef encoders::const_iterator c_iter; 00033 typedef std::vector< encoders >::const_iterator t_iter; 00034 00035 t_iter operator() ( t_iter targetEnc_begin, t_iter targetEnc_end, c_iter currentEnc_begin, c_iter currentEnc_end ); 00036 }; 00037 00038 00039 } 00040 00041 #endif