forward_kinematics.h

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#ifndef TESSERACT_KINEMATICS_FORWARD_KINEMATICS_H
#define TESSERACT_KINEMATICS_FORWARD_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_scene_graph/graph.h>
 
namespace tesseract_kinematics
{
class ForwardKinematics
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<ForwardKinematics>;
  using ConstPtr = std::shared_ptr<const ForwardKinematics>;
  using UPtr = std::unique_ptr<ForwardKinematics>;
  using ConstUPtr = std::unique_ptr<const ForwardKinematics>;
 
  ForwardKinematics() = default;
  virtual ~ForwardKinematics() = default;
  ForwardKinematics(const ForwardKinematics&) = default;
  ForwardKinematics& operator=(const ForwardKinematics&) = default;
  ForwardKinematics(ForwardKinematics&&) = default;
  ForwardKinematics& operator=(ForwardKinematics&&) = default;
 
  virtual tesseract_common::TransformMap calcFwdKin(const Eigen::Ref<const Eigen::VectorXd>& joint_angles) const = 0;
 
  virtual Eigen::MatrixXd calcJacobian(const Eigen::Ref<const Eigen::VectorXd>& joint_angles,
                                       const std::string& link_name) const = 0;
 
  virtual std::string getBaseLinkName() const = 0;
 
  virtual std::vector<std::string> getJointNames() const = 0;
 
  virtual std::vector<std::string> getTipLinkNames() const = 0;
 
  virtual Eigen::Index numJoints() const = 0;
 
  virtual std::string getSolverName() const = 0;
 
  virtual ForwardKinematics::UPtr clone() const = 0;
};
}  // namespace tesseract_kinematics
 
#endif  // TESSERACT_KINEMATICS_FORWARD_KINEMATICS_H