ikchain.h

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#ifndef VART_IKCHAIN_H
#define VART_IKCHAIN_H

#include "vart/sgpath.h"
#include "vart/point4d.h"
#include "vart/dof.h"

namespace VART {
    class IKChain
    {
        public:
        // PUBLIC STATIC METHODS
        // PUBLIC METHODS
            IKChain(SGPath path, Point4D eePos, Point4D eeOri);

            void SetEEPosition(const Point4D& eePos);

            void SetTargetPosition(const Point4D& target) { targetPos = target; }

            void MoveTowardsSolution();
        protected:
        // PROTECTED STATIC METHODS
        // PROTECTED METHODS
        // PROTECTED STATIC ATTRIBUTES
        // PROTECTED ATTRIBUTES
            std::list<Dof*> dofChain;
            Point4D eePosition;
            Point4D eeOrientation;
            Point4D targetPos;
    }; // end class declaration
} // end namespace

#endif