SpatialAcceleration.hpp

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#ifndef WBC_TYPES_SPATIAL_ACCELERATION_HPP
#define WBC_TYPES_SPATIAL_ACCELERATION_HPP
 
#include "Pose.hpp"
 
namespace wbc { namespace types {
 
class SpatialAcceleration{
public:
    Eigen::Vector3d linear;
    Eigen::Vector3d angular;
 
    void setZero(){
        linear.setZero();
        angular.setZero();
    }
 
    Eigen::VectorXd vector6d() const{
        Eigen::VectorXd v(6);
        v.segment(0,3) = linear;
        v.segment(3,3) = angular;
        return v;
    }
};

SpatialAcceleration operator*(const Pose& transform, const SpatialAcceleration& acc_in);
 
}
}
 
#endif