robot/NumericKinematicEvaluator.cpp

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/****************************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)

  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  $Id: NumericKinematicEvaluator.cpp 1039 2004-02-11 20:50:52Z jungd $
  $Revision: 1.1 $
  $Date: 2004-02-11 15:50:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $

****************************************************************************/

#include <robot/NumericKinematicEvaluator>


using robot::NumericKinematicEvaluator;
using robot::KinematicChain;

using base::Math;
using base::Vector;
using base::Matrix;


NumericKinematicEvaluator::NumericKinematicEvaluator()
{
}



Matrix NumericKinematicEvaluator::getForwardKinematics(const KinematicChain& chain, const Vector& q) const
{
  Unimplemented;
}


Matrix NumericKinematicEvaluator::getJacobian(const KinematicChain& chain, const Vector& q, bool includeOrientation) const
{
  Unimplemented;
}




array<Vector> NumericKinematicEvaluator::getJointOrigins(const KinematicChain& chain, const Vector& q ) const
{
  Unimplemented;
}


array<Vector> NumericKinematicEvaluator::getLinkOrigins(const KinematicChain& chain, const Vector& q ) const
{
  Unimplemented;
}

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