util.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00011  *
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00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PLANNER_UTIL_H_
00038 #define JSK_FOOTSTEP_PLANNER_UTIL_H_
00039 
00040 namespace jsk_footstep_planner
00041 {
00042   inline Eigen::Affine3f affineFromXYYaw(double x, double y, double yaw)
00043   {
00044     return (Eigen::Translation3f(x, y, 0) *
00045             Eigen::AngleAxisf(yaw, Eigen::Vector3f::UnitZ()));
00046   }
00047 }
00048 
00049 #endif


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri Apr 19 2019 03:45:28