6 #ifndef CNOID_BODY_COMPOSITE_IK_H 7 #define CNOID_BODY_COMPOSITE_IK_H 25 void reset(
Body* body,
Link* targetLink);
26 bool addBaseLink(
Link* link);
27 void setMaxIKerror(
double e);
32 JointPathPtr
jointPath(
int index)
const {
return pathList[index].path; }
33 Link*
baseLink(
int index)
const {
return pathList[index].endLink; }
35 virtual bool hasAnalyticalIK()
const;
36 virtual bool calcInverseKinematics(
const Vector3& p,
const Matrix3& R);
47 std::vector<PathInfo> pathList;
int numJointPaths() const
Definition: CompositeIK.h:31
boost::shared_ptr< JointPath > JointPathPtr
Definition: BodyMotionPoseProvider.h:20
Definition: InverseKinematics.h:14
Link * baseLink(int index) const
Definition: CompositeIK.h:33
Definition: CompositeIK.h:18
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
boost::shared_ptr< CompositeIK > CompositeIKPtr
Definition: CompositeIK.h:51
Body * body() const
Definition: CompositeIK.h:29
JointPathPtr jointPath(int index) const
Definition: CompositeIK.h:32
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Link * targetLink() const
Definition: CompositeIK.h:30
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:57