InverseKinematics.h

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#ifndef WBT_INVERSEKINEMATICS_H
#define WBT_INVERSEKINEMATICS_H
 
#include "WBIModelBlock.h"
 
namespace wbt {
    class InverseKinematics;
}
 
class wbt::InverseKinematics : public wbt::WBIModelBlock
{
 
    struct InverseKinematicsPimpl;
    InverseKinematicsPimpl* m_piml;
 
public:
    static std::string ClassName;
    InverseKinematics();
 
    virtual unsigned numberOfParameters();
    virtual bool configureSizeAndPorts(blockfactory::core::BlockInformation* blockInfo, wbt::Error* error);
 
    virtual bool initialize(blockfactory::core::BlockInformation* blockInfo, wbt::Error* error);
    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
};
 
#endif /* end of include guard: WBT_INVERSEKINEMATICS_H */