dh_robot.h

#pragma once
 
#include "base/robot.h"
 
#include <Eigen/Dense>
#include <vector>
#include <string>
#include <json/json.h>
 
namespace bmpf {
    class DHRobot : public BaseRobot {
    public:
        DHRobot() = default;
 
        void loadFromFile(std::string path) override;
 
        static Eigen::Matrix4d getDHMatrix(double theta, double d, double a, double alpha);
    };
}