KdlSolverUtils.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __KDL_SOLVER_UTILS_HPP__
#define __KDL_SOLVER_UTILS_HPP__
 
#include <vector>
 
#include <yarp/os/Property.h>
#include <yarp/os/Searchable.h>
 
#include <kdl/chain.hpp>
#include <kdl/jntarray.hpp>
 
namespace roboticslab::KdlSolverUtils
{
 
bool parseKinematicsConfig(const yarp::os::Searchable & config, const std::string & filename, yarp::os::Property & kinematicsConfig);
 
Eigen::MatrixXd getMatrixFromVector(const std::vector<double> & v);
 
KDL::JntArray getJntArrayFromVector(const std::vector<double> in);
 
bool makeChain(const yarp::os::Searchable & kinConfig, KDL::Chain & chain);
 
} // namespace roboticslab::KdlSolverUtils
 
#endif // __KDL_SOLVER_UTILS_HPP__