util.h

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// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_UTIL_H_
#define JSK_FOOTSTEP_PLANNER_UTIL_H_
 
namespace jsk_footstep_planner
{
  inline Eigen::Affine3f affineFromXYYaw(double x, double y, double yaw)
  {
    return (Eigen::Translation3f(x, y, 0) *
            Eigen::AngleAxisf(yaw, Eigen::Vector3f::UnitZ()));
  }
}
 
#endif