20 #ifndef KATANAKINEMATICS_H
21 #define KATANAKINEMATICS_H
39 class NoSolutionException :
public Exception {
67 typedef std::vector<KinematicParameters> parameter_container;
71 typedef std::vector<double> angles;
74 typedef std::vector<double> coordinates;
77 typedef std::vector<double> metrics;
80 typedef std::vector<int> encoders;
102 virtual void IK(encoders::iterator solution,
coordinates const& pose,
encoders const& cur_angles)
const = 0;