moveit2
The MoveIt Motion Planning Framework for ROS 2.
cached_ik_kinematics_plugin.cpp
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34 
35 /* Author: Mark Moll */
36 
39 // compilation error: KDL and LMA kinematics plugins declare same types
40 //#include <moveit/lma_kinematics_plugin/lma_kinematics_plugin.h>
42 
43 #include <pluginlib/class_list_macros.hpp>
44 // register CachedIKKinematicsPlugin<KDLKinematicsPlugin> as a KinematicsBase implementation
47 
48 // register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
49 // PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<lma_kinematics_plugin::LMAKinematicsPlugin>,
50 // kinematics::KinematicsBase);
51 
52 // register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
55 
56 #ifdef CACHED_IK_KINEMATICS_TRAC_IK
57 #include <trac_ik/trac_ik_kinematics_plugin.hpp>
58 // register CachedIKKinematicsPlugin<TRAC_IKKinematicsPlugin> as a KinematicsBase implementation
62 #endif
PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< kdl_kinematics_plugin::KDLKinematicsPlugin >, kinematics::KinematicsBase)
Provides an interface for kinematics solvers.