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37 lines
990 B
C++
37 lines
990 B
C++
#ifndef IK_TRAJECTORY_HELPER_H
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#define IK_TRAJECTORY_HELPER_H
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enum IK2_Method
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{
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IK2_JACOB_TRANS=0,
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IK2_PURE_PSEUDO,
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IK2_DLS,
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IK2_SDLS ,
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IK2_DLS_SVD,
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IK2_VEL_DLS
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};
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class IKTrajectoryHelper
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{
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struct IKTrajectoryHelperInternalData* m_data;
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public:
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IKTrajectoryHelper();
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virtual ~IKTrajectoryHelper();
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///todo: replace createKukaIIWA with a generic way of create an IK tree
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void createKukaIIWA();
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bool createFromMultiBody(class btMultiBody* mb);
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bool computeIK(const double endEffectorTargetPosition[3],
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const double endEffectorTargetOrientation[4],
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const double endEffectorWorldPosition[3],
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const double endEffectorWorldOrientation[4],
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const double* q_old, int numQ,
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double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, float dt);
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};
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#endif //IK_TRAJECTORY_HELPER_H
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