22 #if defined(__OPENCR__) 30 using namespace Eigen;
42 void forwardSolverUsingChainRule(
Manipulator *manipulator,
Name component_name);
43 bool inverseSolverUsingJacobian(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
49 virtual void setOption(
const void *arg);
51 virtual void solveForwardKinematics(
Manipulator *manipulator);
52 virtual bool solveInverseKinematics(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
62 void forwardSolverUsingChainRule(
Manipulator *manipulator,
Name component_name);
63 bool inverseSolverUsingSRJacobian(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
69 virtual void setOption(
const void *arg);
71 virtual void solveForwardKinematics(
Manipulator *manipulator);
72 virtual bool solveInverseKinematics(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
82 void forwardSolverUsingChainRule(
Manipulator *manipulator,
Name component_name);
83 bool inverseSolverUsingPositionOnlySRJacobian(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
89 virtual void setOption(
const void *arg);
91 virtual void solveForwardKinematics(
Manipulator *manipulator);
92 virtual bool solveInverseKinematics(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
102 void forwardSolverUsingChainRule(
Manipulator *manipulator,
Name component_name);
103 bool chainCustomInverseKinematics(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
109 virtual void setOption(
const void *arg);
111 virtual void solveForwardKinematics(
Manipulator *manipulator);
112 virtual bool solveInverseKinematics(
Manipulator *manipulator,
Name tool_name,
Pose target_pose, std::vector<JointValue>* goal_joint_value);
118 #endif // KINEMATICS_H_ SolverUsingCRAndSRJacobian()
SolverUsingCRAndJacobian()
virtual ~SolverUsingCRAndSRPositionOnlyJacobian()
SolverCustomizedforOMChain()
virtual ~SolverUsingCRAndJacobian()
SolverUsingCRAndSRPositionOnlyJacobian()
virtual ~SolverUsingCRAndSRJacobian()
virtual ~SolverCustomizedforOMChain()