InverseKinematics.h

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/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 */

#ifndef HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED
#define HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED

#include <boost/shared_ptr.hpp>
#include <hrpUtil/Eigen3d.h>

namespace hrp {

    class InverseKinematics
    {
      public:
        virtual ~InverseKinematics() { }
        virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix33& end_R) = 0;
    };

    typedef boost::shared_ptr<InverseKinematics> IInverseKinematicsPtr;
}

#endif