/usr/include/kdl/treeiksolver.hpp is in liborocos-kdl-dev 1.3.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* treeiksolver.hpp
*
* Created on: Nov 28, 2008
* Author: rubensmits
*/
#ifndef TREEIKSOLVER_HPP_
#define TREEIKSOLVER_HPP_
#include "tree.hpp"
#include "jntarray.hpp"
#include "frames.hpp"
#include <map>
namespace KDL {
typedef std::map<std::string, Twist> Twists;
typedef std::map<std::string, Jacobian> Jacobians;
typedef std::map<std::string, Frame> Frames;
/**
* \brief This <strong>abstract</strong> class encapsulates the inverse
* position solver for a KDL::Chain.
*
* @ingroup KinematicFamily
*/
class TreeIkSolverPos {
public:
/**
* Calculate inverse position kinematics, from cartesian
*coordinates to joint coordinates.
*
* @param q_init initial guess of the joint coordinates
* @param p_in input cartesian coordinates
* @param q_out output joint coordinates
*
* @return if < 0 something went wrong
* otherwise (>=0) remaining (weighted) distance to target
*/
virtual double CartToJnt(const JntArray& q_init, const Frames& p_in,JntArray& q_out)=0;
virtual ~TreeIkSolverPos() {
}
;
};
/**
* \brief This <strong>abstract</strong> class encapsulates the inverse
* velocity solver for a KDL::Tree.
*
* @ingroup KinematicFamily
*/
class TreeIkSolverVel {
public:
/**
* Calculate inverse velocity kinematics, from joint positions
*and cartesian velocities to joint velocities.
*
* @param q_in input joint positions
* @param v_in input cartesian velocity
* @param qdot_out output joint velocities
*
* @return if < 0 something went wrong
* distance to goal otherwise (weighted norm of v_in)
*/
virtual double CartToJnt(const JntArray& q_in, const Twists& v_in, JntArray& qdot_out)=0;
virtual ~TreeIkSolverVel() {
}
;
};
}
#endif /* TREEIKSOLVER_HPP_ */
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