24#include <yarp/sig/all.h>
25#include <yarp/math/Math.h>
33using namespace yarp::sig;
34using namespace yarp::math;
50 const unsigned int verbose=0) :
52 max_iter,verbose,false) { }
57 Vector
solve(
const Vector &q0, Vector &xd,
const Vector &gDir);
void set_ctrlPose(const unsigned int _ctrlPose)
bool set_posePriority(const string &priority)
void setHessianOpt(const bool useHessian)
Vector solve(const Vector &q0, Vector &xd, const Vector &gDir)
GazeIpOptMin(iKinChain &_chain, const double tol, const double constr_tol, const int max_iter=IKINCTRL_DISABLED, const unsigned int verbose=0)
A Base class for defining a Serial Link Chain.
Class for inverting chain's kinematics based on IpOpt lib.
#define IKINCTRL_POSE_XYZ
#define IKINCTRL_DISABLED