Expose Inverse Kinematics in Kinematics Group

tesseract-robotics · Dec 21, 2024 · 92fa862 · 92fa862
1 parent 3f1b95c
commit 92fa862
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diff --git a/tesseract_kinematics/core/include/tesseract_kinematics/core/kinematic_group.h b/tesseract_kinematics/core/include/tesseract_kinematics/core/kinematic_group.h
@@ -143,6 +143,12 @@ class KinematicGroup : public JointGroup
    */
   std::vector<std::string> getAllPossibleTipLinkNames() const;
 
+  /**
+   * @brief Get the inverse kinematics sovler
+   * @return The inverse kinematics solver
+   */
+  const InverseKinematics& getInverseKinematics() const;
+
 private:
   std::vector<std::string> joint_names_;
   bool reorder_required_{ false };

diff --git a/tesseract_kinematics/core/src/kinematic_group.cpp b/tesseract_kinematics/core/src/kinematic_group.cpp
@@ -204,4 +204,7 @@ std::vector<std::string> KinematicGroup::getAllPossibleTipLinkNames() const
 
   return ik_tip_links;
 }
+
+const InverseKinematics& KinematicGroup::getInverseKinematics() const { return *inv_kin_; }
+
 }  // namespace tesseract_kinematics