inverse_kinematics.hpp

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#ifndef MODERN_ROBOTICS__INVERSE_KINEMATICS_HPP___
#define MODERN_ROBOTICS__INVERSE_KINEMATICS_HPP___
 
#include <armadillo>
#include <vector>
#include <utility>
 
namespace mr
{
 
const std::pair<const arma::vec, bool> IKinBody(
  const std::vector<arma::vec6> & Blist,
  const arma::mat44 & M,
  const arma::mat44 & T,
  const arma::vec & thetalist0,
  const double emog,
  const double ev
);
 
const std::pair<const arma::vec, bool> IKinSpace(
  const std::vector<arma::vec6> & Slist,
  const arma::mat44 & M,
  const arma::mat44 & T,
  const arma::vec & thetalist0,
  const double emog,
  const double ev
);
}
 
#endif