inverse_kinematics_hyq4.h
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00029 
00030 #ifndef XPP_VIS_INVERSEKINEMATICS_HYQ4_H_
00031 #define XPP_VIS_INVERSEKINEMATICS_HYQ4_H_
00032 
00033 #include <xpp_vis/inverse_kinematics.h>
00034 #include <xpp_hyq/hyqleg_inverse_kinematics.h>
00035 
00036 namespace xpp {
00037 
00041 class InverseKinematicsHyq4 : public InverseKinematics {
00042 public:
00043   InverseKinematicsHyq4() = default;
00044   virtual ~InverseKinematicsHyq4() = default;
00045 
00050   Joints GetAllJointAngles(const EndeffectorsPos& pos_b) const override;
00051 
00055   int GetEECount() const override { return 4; };
00056 
00057 private:
00058   Vector3d base2hip_LF_ = Vector3d(0.3735, 0.207, 0.0);
00059   HyqlegInverseKinematics leg;
00060 };
00061 
00062 } /* namespace xpp */
00063 
00064 #endif /* XPP_VIS_INVERSEKINEMATICS_HYQ4_H_ */


xpp_hyq
Author(s): Alexander W. Winkler, Diego Pardo. , Carlos Mastalli , Ioannis Havoutis
autogenerated on Fri Apr 5 2019 02:55:54