add IK methods

jhavl · jhavl · commit 5a1deae7f325 · 2022-09-20T16:36:20.000+10:00
diff --git a/roboticstoolbox/robot/__init__.py b/roboticstoolbox/robot/__init__.py
@@ -8,21 +8,16 @@
     RevoluteMDH,
     PrismaticMDH,
 )
-from roboticstoolbox.robot.PoERobot import (
-    PoELink,
-    PoERobot,
-    PoERevolute, 
-    PoEPrismatic
-)
+from roboticstoolbox.robot.PoERobot import PoELink, PoERobot, PoERevolute, PoEPrismatic
 from roboticstoolbox.robot.ERobot import ERobot, ERobot2
-# from roboticstoolbox.robot.FastRobot import FastRobot
 
 from roboticstoolbox.robot.ELink import ELink, ELink2
 from roboticstoolbox.robot.ETS import ETS, ETS2
 from roboticstoolbox.robot.Gripper import Gripper
-# from roboticstoolbox.robot.KinematicCache import KinematicCache
 from roboticstoolbox.robot.ET import ET, ET2
 
+from roboticstoolbox.robot.IK import IKSolution, IKSolver, IK_LM, IK_NR
+
 __all__ = [
     "Robot",
     "SerialLink",
@@ -40,15 +35,17 @@
     "Link2",
     "ERobot",
     "ERobot2",
-    # "FastRobot",
     "ETS",
     "ETS2",
     "Gripper",
-    # "KinematicCache",
     "PoERobot",
     "PoELink",
     "PoEPrismatic",
     "PoERevolute",
     "ET",
     "ET2",
+    "IKSolution",
+    "IKSolver",
+    "IK_LM",
+    "IK_NR",
 ]
