00001 #ifndef _EXAMPLES_PR2_ARM_WIK_H_ 00002 #define _EXAMPLES_PR2_ARM_WIK_H_ 00003 00004 #include <mpc/types.h> 00005 00006 using namespace MPC; 00007 00008 namespace pr2_arm_ik { 00009 // some euclidean obstacles 00010 typedef std::vector<VectorT> Obstacles; 00011 00012 void setGoal(const VectorT &g); 00013 void setObstacles(const Obstacles &obs); 00014 Obstacles &getObstacles(); 00015 00016 void dynamics(const VectorT &x, const VectorT &u, VectorT &xNext); 00017 void dynamicsD(const VectorT &x, const VectorT &u, Deriv &d); 00018 float cost(const VectorT &x, const VectorT &u); 00019 void costD(const VectorT &x, const VectorT &u, Deriv &d); 00020 } 00021 00022 00023 #endif
