planners/inversekin/Active.h

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//
//Contents: Class CActive
// 

#ifndef _Active_Header_
#define _Active_Header_

#include "Joints.h"

class CActive: public CJoints
{
public:
        CActive();
        CActive(FrameManager *frameManager);
        ~CActive();
        
        //Get random active joint variables
        virtual bool GetConfiguration(Configuration &conf);
        //Get active joint variables in the neighbouring area of configuration "current"
        virtual bool GetConfiguration(Configuration &conf, Configuration &current, double dist);
};


#endif

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