From 55ae0b7a2c2930da99569be556bc3dc8c0d8b658 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Thu, 28 May 2020 11:14:03 +0200
Subject: [PATCH] re-added SimpleDiffIKProvider
---
source/RobotAPI/libraries/diffik/SimpleDiffIK.h | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/source/RobotAPI/libraries/diffik/SimpleDiffIK.h b/source/RobotAPI/libraries/diffik/SimpleDiffIK.h
index 2adcf162d..e51be9921 100644
--- a/source/RobotAPI/libraries/diffik/SimpleDiffIK.h
+++ b/source/RobotAPI/libraries/diffik/SimpleDiffIK.h
@@ -111,4 +111,19 @@ namespace armarx
///@brief Use this to check a trajectory of waypoints
static Reachability CalculateReachability(const std::vector<Eigen::Matrix4f> targets, const Eigen::VectorXf& initialJV, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp = VirtualRobot::RobotNodePtr(), Parameters params = Parameters());
};
+
+ class SimpleDiffIKProvider :
+ public DiffIKProvider
+ {
+ public:
+ SimpleDiffIKProvider(VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp = VirtualRobot::RobotNodePtr(), SimpleDiffIK::Parameters params = SimpleDiffIK::Parameters());
+ DiffIKResult SolveAbsolute(const Eigen::Matrix4f& targetPose);
+ DiffIKResult SolveRelative(const Eigen::Matrix4f& targetPose, const Eigen::VectorXf& startJointValues);
+
+ private:
+ VirtualRobot::RobotNodeSetPtr rns;
+ VirtualRobot::RobotNodePtr tcp;
+ SimpleDiffIK::Parameters params;
+ };
}
+
--
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