PlanarPotentialField.hpp

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#pragma once
 
#include "PotentialField.hpp"
 
namespace wbc{
 
class PotentialField;

class PlanarPotentialField : public PotentialField{
public:

    PlanarPotentialField(const std::string &_name = "");
    virtual ~PlanarPotentialField(){}

    virtual const Eigen::VectorXd& update(const Eigen::VectorXd& position);

    Eigen::VectorXd n;
};
 
typedef std::shared_ptr<PlanarPotentialField> PlanarPotentialFieldPtr;
 
}