00001 /* 00002 * Software License Agreement (Apache License) 00003 * 00004 * Copyright (c) 2013, Southwest Research Institute 00005 * 00006 * Licensed under the Apache License, Version 2.0 (the "License"); 00007 * you may not use this file except in compliance with the License. 00008 * You may obtain a copy of the License at 00009 * 00010 * http://www.apache.org/licenses/LICENSE-2.0 00011 * 00012 * Unless required by applicable law or agreed to in writing, software 00013 * distributed under the License is distributed on an "AS IS" BASIS, 00014 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00015 * See the License for the specific language governing permissions and 00016 * limitations under the License. 00017 */ 00018 00019 00020 #ifndef GOAL_TOOL_ORIENTATION_H 00021 #define GOAL_TOOL_ORIENTATION_H 00022 00023 #include "constrained_ik/constraint.h" 00024 #include "constrained_ik/constraints/goal_orientation.h" 00025 00026 namespace constrained_ik 00027 { 00028 namespace constraints 00029 { 00030 00034 class GoalToolOrientation : public GoalOrientation 00035 { 00036 public: 00037 GoalToolOrientation(); 00038 virtual ~GoalToolOrientation() {}; 00039 00045 virtual Eigen::MatrixXd calcJacobian(); 00046 00052 virtual Eigen::VectorXd calcError(); 00053 00054 }; // class GoalToolOrientation 00055 00056 } // namespace constraints 00057 } // namespace constrained_ik 00058 00059 00060 #endif // GOAL_TOOL_ORIENTATION_H 00061