IkFast.hpp

Go to the documentation of this file.

#ifndef AIKIDO_ROBOT_IKFAST_HPP_
#define AIKIDO_ROBOT_IKFAST_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
#include <dart/dart.hpp>
 
#include "aikido/robot/InverseKinematics.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
 
namespace aikido {
namespace robot {
 
class IkFast : public InverseKinematics
{
public:
  IkFast(
      ::dart::dynamics::MetaSkeletonPtr arm,
      ::dart::dynamics::BodyNodePtr endEffector,
      statespace::dart::ConstMetaSkeletonStateSpacePtr armSpace,
      const std::string& binaryPath);
 
  // Documentation inherited.
  std::vector<Eigen::VectorXd> getSolutions(
      const Eigen::Isometry3d& targetPose,
      const size_t maxSolutions) const override;
 
private:
  ::dart::dynamics::MetaSkeletonPtr mArm;
  ::dart::dynamics::BodyNodePtr mEndEffector;
  statespace::dart::ConstMetaSkeletonStateSpacePtr mArmSpace;
 
  dart::dynamics::SharedLibraryIkFast* mIkFastSolverPtr;
};
 
} // namespace robot
} // namespace aikido
 
#endif // AIKIDO_ROBOT_IKFAST_HPP_