From 92fa86278fff86d48abe9f1826f2e1bffb86f7b5 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Sat, 21 Dec 2024 09:47:14 -0600
Subject: [PATCH] Expose Inverse Kinematics in Kinematics Group

---
 .../include/tesseract_kinematics/core/kinematic_group.h     | 6 ++++++
 tesseract_kinematics/core/src/kinematic_group.cpp           | 3 +++
 2 files changed, 9 insertions(+)

diff --git a/tesseract_kinematics/core/include/tesseract_kinematics/core/kinematic_group.h b/tesseract_kinematics/core/include/tesseract_kinematics/core/kinematic_group.h
index 53b8e490512..3c62510d185 100644
--- 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
index 7e8df92bd27..f67786457c2 100644
--- 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