inverse_kinematics.h

Go to the documentation of this file.

 
#ifndef TESSERACT_KINEMATICS_INVERSE_KINEMATICS_H
#define TESSERACT_KINEMATICS_INVERSE_KINEMATICS_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
#include <string>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <iostream>
#include <memory>
#include <unordered_map>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/types.h>
#include <tesseract_kinematics/core/types.h>
 
namespace tesseract_kinematics
{
class InverseKinematics
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<InverseKinematics>;
  using ConstPtr = std::shared_ptr<const InverseKinematics>;
  using UPtr = std::unique_ptr<InverseKinematics>;
  using ConstUPtr = std::unique_ptr<const InverseKinematics>;
 
  InverseKinematics() = default;
  virtual ~InverseKinematics() = default;
  InverseKinematics(const InverseKinematics&) = default;
  InverseKinematics& operator=(const InverseKinematics&) = default;
  InverseKinematics(InverseKinematics&&) = default;
  InverseKinematics& operator=(InverseKinematics&&) = default;
 
  virtual IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
                                 const Eigen::Ref<const Eigen::VectorXd>& seed) const = 0;
 
  virtual std::vector<std::string> getJointNames() const = 0;
 
  virtual Eigen::Index numJoints() const = 0;
 
  virtual std::string getBaseLinkName() const = 0;
 
  virtual std::string getWorkingFrame() const = 0;
 
  virtual std::vector<std::string> getTipLinkNames() const = 0;
 
  virtual std::string getSolverName() const = 0;
 
  virtual InverseKinematics::UPtr clone() const = 0;
};
 
}  // namespace tesseract_kinematics
#endif  // TESSERACT_KINEMATICS_INVERSE_KINEMATICS_H