/usr/include/choreonoid-1.1/cnoid/src/Body/InverseKinematics.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 | /**
\author Shin'ichiro Nakaoka
*/
#ifndef CNOID_INVERSE_KINEMATICS_H_INCLUDED
#define CNOID_INVERSE_KINEMATICS_H_INCLUDED
#include <boost/shared_ptr.hpp>
#include <cnoid/EigenTypes>
namespace cnoid {
class InverseKinematics
{
public:
enum AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 };
virtual ~InverseKinematics() { }
virtual AxisSet axisType() const { return TRANSFORM_6D; }
virtual bool calcInverseKinematics(const Vector3& end_p, const Matrix3& end_R) = 0;
};
typedef boost::shared_ptr<InverseKinematics> InverseKinematicsPtr;
}
#endif
|