20 #ifndef KATANAKINEMATICS_H
21 #define KATANAKINEMATICS_H
102 virtual void IK(encoders::iterator solution,
coordinates const& pose,
encoders const& cur_angles)
const = 0;
std::vector< double > angles
Being used to store angles (in radian).
std::vector< KinematicParameters > parameter_container
The base class for all kinematic implementations.
No solution found for the given cartesian coordinates.
std::vector< double > coordinates
To store coordinates.
std::vector< int > encoders
To store encoders.
virtual ~KatanaKinematics()
To pass different parameters for the kinematic implementations.
std::vector< double > metrics
To store metrics, 'aka' the length's of the different segments of the robot.