inverse_kinematics_hyq2.h

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#ifndef XPP_VIS_INVERSEKINEMATICS_HYQ2_H_
#define XPP_VIS_INVERSEKINEMATICS_HYQ2_H_
 
#include <xpp_vis/inverse_kinematics.h>
#include <xpp_hyq/hyqleg_inverse_kinematics.h>
 
 
namespace xpp {
 
class InverseKinematicsHyq2 : public InverseKinematics {
public:
  InverseKinematicsHyq2() = default;
  virtual ~InverseKinematicsHyq2() = default;
 
  Joints GetAllJointAngles(const EndeffectorsPos& pos_B) const override;
 
  int GetEECount() const override { return 2; };
 
private:
  HyqlegInverseKinematics leg;
};
 
} /* namespace xpp  */
 
#endif /* XPP_VIS_INVERSEKINEMATICS_HYQ2_H_ */