graspConstrainer.h

#ifndef GRASPCONSTRAINER_H
#define GRASPCONSTRAINER_H

#include <Eigen/Core>
#include <cmat/cmat.h>

#include "../../support/header/defines.h"
#include "../../support/header/conversions.h"


class GraspConstrainer
{

public:

  static std::vector<double> calculateGraspVelocities_arm(
      Eigen::Matrix<double, 6, ARM_DOF> w_J_man,
      Eigen::Matrix4d otherEE_T_EE);

  static std::vector<double> calculateGraspVelocities_armVeh(
      Eigen::Matrix<double, 6, TOT_DOF> w_Jee_robot,
      Eigen::Matrix4d wTotherPeg, Eigen::Matrix4d wTee);
//  static std::vector<double> calculateGraspVelocities_armVeh(
//      Eigen::Matrix<double, 6, TOT_DOF> w_Jee_robot,
//      Eigen::Matrix4d otherEE_T_EE);


private :
    GraspConstrainer();
};

#endif // GRASPCONSTRAINER_H