InverseKinematics.h

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#ifndef RL_MDL_INVERSEKINEMATICS_H
#define RL_MDL_INVERSEKINEMATICS_H
 
#include <vector>
#include <rl/math/Transform.h>
 
namespace rl
{
    namespace mdl
    {
        class Kinematic;
        
        class InverseKinematics
        {
        public:
            InverseKinematics(Kinematic* kinematic);
            
            virtual ~InverseKinematics();
            
            virtual bool solve() = 0;
            
            ::std::vector< ::std::pair< ::rl::math::Transform, ::std::size_t>> goals;
            
        protected:
            Kinematic* kinematic;
            
        private:
            
        };
    }
}
 
#endif // RL_MDL_INVERSEKINEMATICS_H