Commit 4ebe972e authored by asantamaria's avatar asantamaria
Browse files

cleaned kinematics and added inverse kine

parent 86e3be77
#ifndef _UAM_TASK_CTRL_H
#define _UAM_TASK_CTRL_H
#include <stdio.h>
// MISC
#include <iostream>
#include <fstream>
#include <unistd.h>
#include <string>
#include <sstream>
#include <math.h>
// Eigen
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Eigenvalues>
#include <eigen3/Eigen/SVD>
// KDL stuff
#include <kdl/frames.hpp>
#include <kdl/frames_io.hpp>
#include <kdl/chain.hpp>
#include <kdl/chainfksolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainiksolver.hpp>
#include <kdl/chainiksolverpos_nr.hpp>
#include <kdl/chainiksolvervel_wdls.hpp>
#include <kdl/frames_io.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <boost/scoped_ptr.hpp>
#include <boost/shared_ptr.hpp>
// Own libraries
#include "common_fc.h"
......
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