20#ifndef KATANAKINEMATICS_H
21#define KATANAKINEMATICS_H
The base class for all kinematic implementations.
std::vector< double > coordinates
To store coordinates.
std::vector< double > angles
Being used to store angles (in radian).
virtual void IK(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const =0
Inverse Kinematic.
virtual void init(metrics const &length, parameter_container const ¶meters)=0
Initialize the parameters for the calculations.
std::vector< KinematicParameters > parameter_container
std::vector< int > encoders
To store encoders.
std::vector< double > metrics
To store metrics, 'aka' the length's of the different segments of the robot.
virtual ~KatanaKinematics()
virtual void DK(coordinates &solution, encoders const ¤t_encoders) const =0
Direct Kinematic.
No solution found for the given cartesian coordinates.
To pass different parameters for the kinematic implementations.