6 #ifndef CNOID_BODY_COMPOSITE_IK_H_INCLUDED
7 #define CNOID_BODY_COMPOSITE_IK_H_INCLUDED
11 #include <boost/shared_ptr.hpp>
26 bool addBaseLink(
Link* link);
27 void setMaxIKerror(
double e);
29 virtual bool hasAnalyticalIK()
const;
30 virtual bool calcInverseKinematics(
const Vector3& p,
const Matrix3& R);
42 std::vector<PathInfo> pathList;
boost::intrusive_ptr< Body > BodyPtr
Definition: Body.h:22
boost::shared_ptr< JointPath > JointPathPtr
Definition: Body.h:25
Definition: InverseKinematics.h:13
BodyPtr body() const
Definition: CompositeIK.h:25
Definition: CompositeIK.h:18
Definition: EasyScanner.h:16
boost::shared_ptr< CompositeIK > CompositeIKptr
Definition: CompositeIK.h:46
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:25