5 #ifndef CNOID_INVERSE_KINEMATICS_H_INCLUDED
6 #define CNOID_INVERSE_KINEMATICS_H_INCLUDED
8 #include <boost/shared_ptr.hpp>
9 #include <cnoid/EigenTypes>
boost::shared_ptr< InverseKinematics > InverseKinematicsPtr
Definition: Body.h:28
Definition: InverseKinematics.h:13
virtual ~InverseKinematics()
Definition: InverseKinematics.h:17
AxisSet
Definition: InverseKinematics.h:16
virtual AxisSet axisType() const
Definition: InverseKinematics.h:18
Definition: InverseKinematics.h:16
virtual bool calcInverseKinematics(const Vector3 &end_p, const Matrix3 &end_R)=0
Definition: InverseKinematics.h:16
Definition: EasyScanner.h:16
Definition: InverseKinematics.h:16
Definition: InverseKinematics.h:16
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:25