kdl_factories.h

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#ifndef TESSERACT_KINEMATICS_KDL_FACTORIES_H
#define TESSERACT_KINEMATICS_KDL_FACTORIES_H
 
#include <tesseract_kinematics/core/kinematics_plugin_factory.h>
#include <boost_plugin_loader/macros.h>
 
namespace tesseract_kinematics
{
class KDLFwdKinChainFactory : public FwdKinFactory
{
  std::unique_ptr<ForwardKinematics> create(const std::string& solver_name,
                                            const tesseract_scene_graph::SceneGraph& scene_graph,
                                            const tesseract_scene_graph::SceneState& scene_state,
                                            const KinematicsPluginFactory& plugin_factory,
                                            const YAML::Node& config) const override final;
};
 
class KDLInvKinChainLMAFactory : public InvKinFactory
{
  std::unique_ptr<InverseKinematics> create(const std::string& solver_name,
                                            const tesseract_scene_graph::SceneGraph& scene_graph,
                                            const tesseract_scene_graph::SceneState& scene_state,
                                            const KinematicsPluginFactory& plugin_factory,
                                            const YAML::Node& config) const override final;
};
 
class KDLInvKinChainNRFactory : public InvKinFactory
{
  std::unique_ptr<InverseKinematics> create(const std::string& solver_name,
                                            const tesseract_scene_graph::SceneGraph& scene_graph,
                                            const tesseract_scene_graph::SceneState& scene_state,
                                            const KinematicsPluginFactory& plugin_factory,
                                            const YAML::Node& config) const override final;
};
 
class KDLInvKinChainNR_JLFactory : public InvKinFactory
{
  std::unique_ptr<InverseKinematics> create(const std::string& solver_name,
                                            const tesseract_scene_graph::SceneGraph& scene_graph,
                                            const tesseract_scene_graph::SceneState& scene_state,
                                            const KinematicsPluginFactory& plugin_factory,
                                            const YAML::Node& config) const override final;
};
 
PLUGIN_ANCHOR_DECL(KDLFactoriesAnchor)
 
}  // namespace tesseract_kinematics
 
#endif  // TESSERACT_KINEMATICS_KDL_FACTORIES_H