JointState.hpp

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#ifndef WBC_TYPES_JOINT_STATE_HPP
#define WBC_TYPES_JOINT_STATE_HPP
 
#include <Eigen/Core>
#include <limits>
 
namespace wbc { namespace types {

class JointState{
public:
    Eigen::VectorXd position;       
    Eigen::VectorXd velocity;       
    Eigen::VectorXd acceleration;   
 
    void clear(){
        position.resize(0);
        velocity.resize(0);
        acceleration.resize(0);
    }

    void resize(uint n){
        position.setConstant(n,std::numeric_limits<double>::quiet_NaN());
        velocity.setConstant(n,std::numeric_limits<double>::quiet_NaN());
        acceleration.setConstant(n,std::numeric_limits<double>::quiet_NaN());
    }
};
 
}
}
 
#endif