InverseKinematics.h
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * National Institute of Advanced Industrial Science and Technology (AIST)
8  */
9 
14 #ifndef HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED
15 #define HRPMODEL_INVERSE_KINEMATICS_H_INCLUDED
16 
17 #include <boost/shared_ptr.hpp>
18 #include <hrpUtil/Eigen3d.h>
19 
20 namespace hrp {
21 
23  {
24  public:
25  virtual ~InverseKinematics() { }
26  virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix33& end_R) = 0;
27  };
28 
29  typedef boost::shared_ptr<InverseKinematics> IInverseKinematicsPtr;
30 }
31 
32 #endif
boost::shared_ptr< InverseKinematics > IInverseKinematicsPtr
Eigen::Vector3d Vector3
Definition: EigenTypes.h:11
Eigen::Matrix3d Matrix33
Definition: EigenTypes.h:12
virtual bool calcInverseKinematics(const Vector3 &end_p, const Matrix33 &end_R)=0


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:03