MILDRobotModelWithApproximatedIK.hpp

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#pragma once

#include <boost/tuple/tuple.hpp>
#include "robot_model_services/robot_model/impl/MILDRobotModel.hpp"
#include "robot_model_services/typedef.hpp"
#include "geometry_msgs/Pose.h"
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include "robot_model_services/helper/DebugHelper.hpp"

namespace robot_model_services {
    class MILDRobotModelWithApproximatedIK : public MILDRobotModel {
        public:
        MILDRobotModelWithApproximatedIK();

        virtual ~MILDRobotModelWithApproximatedIK();


                RobotStatePtr calculateRobotState(const RobotStatePtr &sourceRobotState, const SimpleVector3 &position, const SimpleQuaternion &orientation);
                
        };

    typedef boost::shared_ptr<MILDRobotModelWithApproximatedIK> MILDRobotModelWithApproximatedIKPtr;
}