20 #ifndef KNIKATANAKINEMATICS6M180_H
21 #define KNIKATANAKINEMATICS6M180_H
40 class DLLDIR_IK KatanaKinematics6M180 :
public KatanaKinematics {
44 void init(metrics
const& length, parameter_container
const& parameters);
47 void DK(coordinates& solution, encoders
const& current_encoders)
const;
48 void IK(encoders::iterator solution, coordinates
const& pose, encoders
const& cur_angles)
const;
71 typedef std::vector<angles_calc> angles_container;
74 parameter_container _parameters;
76 static const double _tolerance;
77 static const int _nrOfPossibleSolutions;
79 void _setLength(metrics
const& length) { _length = length; }
82 void IK_b1b2costh3_6M180(angles_calc &a,
const position &p)
const;