inverse_kinematics.h

 
#ifndef SPATIAL_DYN_ALGORITHMS_INVERSE_KINEMATICS_H_
#define SPATIAL_DYN_ALGORITHMS_INVERSE_KINEMATICS_H_
 
#include "spatial_dyn/eigen/spatial_math.h"
#include "spatial_dyn/structs/articulated_body.h"
 
namespace spatial_dyn {
 
Eigen::VectorXd InverseKinematics(const ArticulatedBody& ab,
                                  Eigen::Ref<const Eigen::Vector3d> x,
                                  const Eigen::Quaterniond& quat, int link = -1,
                                  const Eigen::Vector3d& offset = Eigen::Vector3d::Zero());
 
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_ALGORITHMS_INVERSE_KINEMATICS_H_