RealTimeIKPlanner.h

#ifndef REAL_TIME_IK_PLANNER_H
#define REAL_TIME_IK_PLANNER_H

#include "RealTimePlanner.h"
#include <KrisLibrary/robotics/IK.h>

namespace Klampt {

class DynamicIKPlanner : public DynamicMotionPlannerBase
{
public:
  virtual int PlanFrom(ParabolicRamp::DynamicPath& path,Real cutoff);
};

class DynamicPerturbationPlanner : public DynamicMotionPlannerBase
{
public:
  DynamicPerturbationPlanner();
  virtual void SetGoal(shared_ptr<PlannerObjectiveBase> newgoal);
  virtual int PlanFrom(ParabolicRamp::DynamicPath& path,Real cutoff);

  //setting
  Real perturbationStep;
  int perturbLimit;

  //temporary state
  int iteration;
};

class DynamicPerturbationIKPlanner : public DynamicMotionPlannerBase
{
public:
  DynamicPerturbationIKPlanner();
  virtual void SetGoal(shared_ptr<PlannerObjectiveBase> newgoal);
  virtual int PlanFrom(ParabolicRamp::DynamicPath& path,Real cutoff);

  //setting
  Real perturbationStep;
  int perturbLimit;

  //temporary state
  int iteration;
};

} //namespace Klampt

#endif