00001 /* 00002 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc. 00003 * All rights reserved. This program is made available under the terms of the 00004 * Eclipse Public License v1.0 which accompanies this distribution, and is 00005 * available at http://www.eclipse.org/legal/epl-v10.html 00006 * Contributors: 00007 * National Institute of Advanced Industrial Science and Technology (AIST) 00008 */ 00009 00014 #ifndef HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED 00015 #define HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED 00016 00017 #include <boost/shared_ptr.hpp> 00018 #include <hrpUtil/Eigen3d.h> 00019 00020 namespace hrp { 00021 00022 class InverseKinematics 00023 { 00024 public: 00025 virtual ~InverseKinematics() { } 00026 virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix33& end_R) = 0; 00027 }; 00028 00029 typedef boost::shared_ptr<InverseKinematics> IInverseKinematicsPtr; 00030 } 00031 00032 #endif