treeiksolver.hpp
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00001 /*
00002  * treeiksolver.hpp
00003  *
00004  *  Created on: Nov 28, 2008
00005  *      Author: rubensmits
00006  */
00007 
00008 #ifndef TREEIKSOLVER_HPP_
00009 #define TREEIKSOLVER_HPP_
00010 
00011 #include "tree.hpp"
00012 #include "jntarray.hpp"
00013 #include "frames.hpp"
00014 #include <map>
00015 
00016 namespace KDL {
00017 
00018 typedef std::map<std::string, Twist> Twists;
00019 typedef std::map<std::string, Jacobian> Jacobians;
00020 typedef std::map<std::string, Frame> Frames;
00021 
00028 class TreeIkSolverPos {
00029 public:
00041     virtual double CartToJnt(const JntArray& q_init, const Frames& p_in,JntArray& q_out)=0;
00042     
00043     virtual ~TreeIkSolverPos() {
00044     }
00045     ;
00046 };
00047 
00054 class TreeIkSolverVel {
00055 public:
00067     virtual double CartToJnt(const JntArray& q_in, const Twists& v_in, JntArray& qdot_out)=0;
00068 
00069     virtual ~TreeIkSolverVel() {
00070     }
00071     ;
00072 
00073 };
00074 
00075 }
00076 
00077 #endif /* TREEIKSOLVER_HPP_ */


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autogenerated on Wed Aug 26 2015 15:14:14