opw_kinematics.h

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#ifndef OPW_KINEMATICS_H
#define OPW_KINEMATICS_H
 
#include <array>                            // IWYU pragma: keep
#include <Eigen/Dense>                      // IWYU pragma: keep
#include "opw_kinematics/opw_parameters.h"  // IWYU pragma: export
 
namespace opw_kinematics
{
template <typename T>
using Transform = Eigen::Transform<T, 3, Eigen::Isometry>;
 
template <typename T>
using Solutions = std::array<std::array<T, 6>, 8>;
 
template <typename T>
Solutions<T> inverse(const Parameters<T>& params, const Transform<T>& pose) noexcept;
 
template <typename T>
Transform<T> forward(const Parameters<T>& p, const std::array<T, 6>& qs) noexcept;
 
}  // end namespace opw_kinematics
 
#include "opw_kinematics/opw_kinematics_impl.h"  // IWYU pragma: export
 
#endif  // OPW_KINEMATICS_H