/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/puma560.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s):  Andrew T. Miller 
//
// $Id: puma560.h,v 1.2 2009/03/25 22:10:23 cmatei Exp $
//
//######################################################################

#ifndef PUMA560_H
#include "robot.h"

struct Puma560Solution;


class Puma560 : public Robot {
  static const int NUM_SOLUTIONS;

  int findClosestSol(Puma560Solution *candidates, Puma560Solution *current);

 public:
  /* Empty constructor */
  Puma560(World *w,const char *name) : Robot(w,name) {}

  /* Solves the inverse kinematics of the puma arm analytically. */
  virtual int invKinematics(const transf& endTran,double* dofVals,
                            int chainNum=0);
};

#define PUMA560_H
#endif

---

graspit
Author(s):
autogenerated on Wed Jan 25 10:58:51 2012