InverseKinematics.h
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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * National Institute of Advanced Industrial Science and Technology (AIST)
00008  */
00009 
00014 #ifndef HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED
00015 #define HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED
00016 
00017 #include <boost/shared_ptr.hpp>
00018 #include <hrpUtil/Eigen3d.h>
00019 
00020 namespace hrp {
00021 
00022     class InverseKinematics
00023     {
00024       public:
00025         virtual ~InverseKinematics() { }
00026         virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix33& end_R) = 0;
00027     };
00028 
00029     typedef boost::shared_ptr<InverseKinematics> IInverseKinematicsPtr;
00030 }
00031 
00032 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:17