inverse_kinematics.h

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#ifndef XPP_VIS_INVERSE_KINEMATICS_H_
#define XPP_VIS_INVERSE_KINEMATICS_H_
 
#include <Eigen/Dense>
#include <memory>
 
#include <xpp_states/endeffectors.h>
#include <xpp_states/joints.h>
 
namespace xpp {
 
class InverseKinematics {
public:
  using Ptr      = std::shared_ptr<InverseKinematics>;
  using Vector3d = Eigen::Vector3d;
 
  InverseKinematics () = default;
  virtual ~InverseKinematics () = default;
 
  virtual Joints GetAllJointAngles(const EndeffectorsPos& pos_b) const = 0;
 
  virtual int GetEECount() const = 0;
};
 
} /* namespace xpp */
 
#endif /* XPP_VIS_INVERSE_KINEMATICS_H_ */