Merge remote-tracking branch 'upstream/master'

examples/SharedMemory/IKTrajectoryHelper.h

@@ -0,0 +1,33 @@
+#ifndef IK_TRAJECTORY_HELPER_H
+#define IK_TRAJECTORY_HELPER_H
+
+enum IK2_Method
+{
+    IK2_JACOB_TRANS=0,
+    IK2_PURE_PSEUDO,
+    IK2_DLS,
+    IK2_SDLS ,
+    IK2_DLS_SVD
+};
+
+
+class IKTrajectoryHelper
+{
+    struct IKTrajectoryHelperInternalData* m_data;
+    
+public:
+    IKTrajectoryHelper();
+    virtual ~IKTrajectoryHelper();
+    
+    ///todo: replace createKukaIIWA with a generic way of create an IK tree
+    void createKukaIIWA();
+    
+	bool createFromMultiBody(class btMultiBody* mb);
+
+    bool computeIK(const double endEffectorTargetPosition[3],
+                   const double endEffectorWorldPosition[3],
+                   const double* q_old, int numQ,
+                   double* q_new, int ikMethod, const double* linear_jacobian, int jacobian_size);
+    
+};
+#endif //IK_TRAJECTORY_HELPER_H