20 #ifndef KNIKatanaKinematics6M90T_H
21 #define KNIKatanaKinematics6M90T_H
47 void IK(encoders::iterator solution,
coordinates const& pose,
encoders const& cur_angles)
const;
82 void IK_theta234theta5(angles_calc& angle,
const position &p_gr)
const;
83 void IK_b1b2costh3_6MS(angles_calc &a,
const position &p)
const;
85 void thetacomp(angles_calc &a,
const position &p_m,
const coordinates& pose)
const;
87 bool angledef(angles_calc &a)
const;
89 bool GripperTest(
const position &p_gr,
const angles_calc &angle)
const;
90 bool AnglePositionTest(
const angles_calc &a)
const;
91 bool PositionTest6MS(
const double& theta1,
const double& theta2,
const double& theta3,
const double& theta234,
const position &p)
const;