add Kinematics
@@ -80,6 +80,17 @@ class OMKinematicsMethod
method_.solveKinematicsSinglePoint(manipulator, getComponentChildName(manipulator, getWorldChildName(manipulator, error), error).at(i), error);
}
}
+};
+
+class OMChainKinematics
+{
+ private:
+ OMMath math_;
+ OMKinematicsMethod method_;
+
+ public:
+ OMChainKinematics(){};
+ ~OMChainKinematics(){};
void jacobian(Manipulator* manipulator, int8_t tool_component_name)
{
@@ -94,8 +105,6 @@ class OMKinematicsMethod
map<Name, Component>::iterator it_component_;
for(it_component_ = manipulator)
-getComponent
-
for(int8_t i = 0; i < getComponentSize(manipulator, error); i++)
{
if(manipulator.getComponentActuatorId joint_[i].getId() >= 0)
@@ -117,17 +126,6 @@ getComponent
}
};
-class OMChainKinematics
-{
- private:
- OMMath math_;
- OMKinematicsMethod method_;
-
- public:
- OMChainKinematics(){};
- ~OMChainKinematics(){};
-};
-
class OMScaraKinematics
{
private:
