bool KDLRobotModel::computeIK(const std::vector<double> &pose, const std::vector<double> &start, std::vector<double> &solution, int option) { if(option == sbpl_arm_planner::ik_option::RESTRICT_XYZ_JOINTS) return false; return computeIKSearch(pose, start, solution, 0.005); }
bool KDLRobotModel::computeIK( const Eigen::Affine3d& pose, const RobotState& start, RobotState& solution, ik_option::IkOption option) { if (option != ik_option::UNRESTRICTED) { return false; } return computeIKSearch(pose, start, solution); }