6 #ifndef CNOID_BODY_PIN_DRAG_IK_H 7 #define CNOID_BODY_PIN_DRAG_IK_H 26 void setBaseLink(
Link* baseLink);
27 void setFreeRootWeight(
double translation,
double rotation);
28 void setTargetLink(
Link* targetLink,
bool isAttitudeEnabled =
false);
29 void setJointWeight(
int jointId,
double weight);
36 virtual void setIKErrorThresh(
double e);
37 virtual bool hasAnalyticalIK();
39 void setSRInverseParameters(
double k0,
double w0);
40 void enableJointRangeConstraints(
bool on);
48 virtual bool calcInverseKinematics(
const Vector3& end_p,
const Matrix3& end_R);
Definition: PinDragIK.h:18
Definition: InverseKinematics.h:14
AxisSet
Definition: InverseKinematics.h:17
Definition: InverseKinematics.h:17
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
boost::shared_ptr< PinDragIK > PinDragIKptr
Definition: PinDragIK.h:54
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:57