arm.h

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#ifndef GCOP_ARM_H
#define GCOP_ARM_H

namespace gcop {

  class Arm {
  public:
    Arm();

    virtual ~Arm();

    bool Fk(double p[3], const double a[3]);

    bool Ik(double a[2][3], const double p[3]);

    double l1;  
    double l2;  
    double x1;  
    

  };
}

#endif