fixed compile error

source/RobotAPI/libraries/core/CMakeLists.txt

@@ -48,7 +48,6 @@ set(LIB_FILES
     JointVelocityRamp.cpp
     CartesianVelocityControllerWithRamp.cpp
     SimpleDiffIK.cpp
-    SimpleGridReachability.cpp
 )
 
 set(LIB_HEADERS
@@ -93,7 +92,6 @@ set(LIB_HEADERS
     JointVelocityRamp.h
     CartesianVelocityControllerWithRamp.h
     SimpleDiffIK.h
-    SimpleGridReachability.h
     EigenHelpers.h
 )
 

source/RobotAPI/libraries/core/SimpleDiffIK.cpp

@@ -29,10 +29,9 @@ using namespace armarx;
 
 
 
-SimpleDiffIK::Result SimpleDiffIK::CalculateDiffIK(const Eigen::Matrix4f targetPose, Parameters params)
+SimpleDiffIK::Result SimpleDiffIK::CalculateDiffIK(const Eigen::Matrix4f targetPose, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp, Parameters params)
 {
-    VirtualRobot::RobotNodeSetPtr rns = params.nodeSet;
-    VirtualRobot::RobotNodePtr tcp = params.tcp ? params.tcp : rns->getTCP();
+    tcp = tcp ? tcp : rns->getTCP();
     CartesianVelocityController velocityController(rns);
     CartesianPositionController positionController(tcp);
 

source/RobotAPI/libraries/core/SimpleDiffIK.h

@@ -37,9 +37,7 @@ namespace armarx
     public:
         struct Parameters
         {
-            VirtualRobot::RobotNodePtr tcp;
-            VirtualRobot::RobotNodeSetPtr nodeSet;
-
+            Parameters() {}
             // IK params
             float ikStepLengthInitial = 0.2f;
             float ikStepLengthFineTune = 0.5f;
@@ -61,7 +59,7 @@ namespace armarx
             float minimumJointLimitMargin;
         };
 
-        static Result CalculateDiffIK(const Eigen::Matrix4f targetPose, Parameters params);
+        static Result CalculateDiffIK(const Eigen::Matrix4f targetPose, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp = VirtualRobot::RobotNodePtr(), Parameters params = Parameters());
 
     };
 }