PotentialFieldInfo.hpp

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#ifndef POTENTIAL_FIELD_INFO_HPP
#define POTENTIAL_FIELD_INFO_HPP
 
#include "PotentialField.hpp"
 
namespace wbc {
 
struct PotentialFieldInfo{
 
    void fromPotentialField(PotentialFieldPtr field){
        dimension = field->dimension;
        influence_distance = field->influence_distance;
        distance = field->distance;
        gradient = field->gradient;
        pot_field_center = field->pot_field_center;
        euclidean_distance = distance.norm();
        name = field->name;
    }

    uint dimension;

    double influence_distance;

    Eigen::VectorXd distance;

    double euclidean_distance;

    Eigen::VectorXd gradient;

    Eigen::VectorXd pot_field_center;

    std::string name;
};
 
 
}
 
#endif