Aikido
InverseKinematics.hpp
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1 #ifndef AIKIDO_ROBOT_IK_INVERSEKINEMATICS_HPP_
2 #define AIKIDO_ROBOT_IK_INVERSEKINEMATICS_HPP_
3 
4 namespace aikido {
5 namespace robot {
6 
8 class InverseKinematics
9 {
10 public:
18  virtual std::vector<Eigen::VectorXd> getSolutions(
19  const Eigen::Isometry3d& targetPose, const size_t maxSolutions) const = 0;
20 };
21 
22 } // namespace robot
23 } // namespace aikido
24 
25 #endif // AIKIDO_ROBOT_IK_INVERSEKINEMATICS_HPP_
aikido
Format of serialized trajectory in YAML.
Definition: algorithm.hpp:4
aikido::robot::InverseKinematics::getSolutions
virtual std::vector< Eigen::VectorXd > getSolutions(const Eigen::Isometry3d &targetPose, const size_t maxSolutions) const =0
Returns a set of IK solutions for the given pose.
aikido::robot::InverseKinematics
Interface for IK solvers used with the Robot class.
Definition: InverseKinematics.hpp:8