InverseKinematics.h

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#ifndef CNOID_BODY_INVERSE_KINEMATICS_H
#define CNOID_BODY_INVERSE_KINEMATICS_H
 
#include <cnoid/EigenTypes>
#include "exportdecl.h"
 
namespace cnoid {
 
class CNOID_EXPORT InverseKinematics
{
public:
    virtual ~InverseKinematics();
 
    virtual bool calcInverseKinematics(const Isometry3& T) = 0;
 
    virtual bool calcRemainingPartForwardKinematicsForInverseKinematics();
 
    bool calcInverseKinematics(const Vector3& p, const Matrix3& R) {
        Isometry3 T;
        T.linear() = R;
        T.translation() = p;
        return calcInverseKinematics(T);
    }
};
 
}
 
#endif