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Function signature changed to allow forward kinematics to calculate any joint's pose
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@@ -41,7 +41,7 @@ class ArmRepresentation
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public:
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ArmRepresentation(const KDL::Frame &base_pose = KDL::Frame(KDL::Rotation::Quaternion(0, 0, 0, 1), KDL::Vector(0.3, 0.92, 0.9))); //KDL::Frame(KDL::Vector(0.3, 0.92, 1)));
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int calculateForwardKinematics(const KDL::JntArray &joint_positions, KDL::Frame &end_effector_pose);
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int calculateForwardKinematics(const KDL::JntArray &joint_positions, KDL::Frame &end_effector_pose, int joint_nbr = -1);
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int calculateInverseKinematics(const KDL::JntArray &cur_configuration,
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const KDL::Frame &desired_end_effector_pose,
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