6 #ifndef CNOID_BODY_PIN_DRAG_IK_H_INCLUDED
7 #define CNOID_BODY_PIN_DRAG_IK_H_INCLUDED
11 #include <boost/shared_ptr.hpp>
27 void setBaseLink(
Link* baseLink);
28 void setFreeRootWeight(
double translation,
double rotation);
29 void setTargetLink(
Link* targetLink,
bool isAttitudeEnabled =
false);
30 void setJointWeight(
int jointId,
double weight);
37 virtual void setIKErrorThresh(
double e);
38 virtual bool hasAnalyticalIK();
40 void setSRInverseParameters(
double k0,
double w0);
41 void enableJointRangeConstraints(
bool on);
49 virtual bool calcInverseKinematics(
const Vector3& end_p,
const Matrix3& end_R);
boost::intrusive_ptr< Body > BodyPtr
Definition: Body.h:22
Definition: PinDragIK.h:18
Definition: InverseKinematics.h:13
AxisSet
Definition: InverseKinematics.h:16
Definition: InverseKinematics.h:16
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
boost::shared_ptr< PinDragIK > PinDragIKptr
Definition: PinDragIK.h:57
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:25