00001 /* 00002 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc. 00003 * All rights reserved. This program is made available under the terms of the 00004 * Eclipse Public License v1.0 which accompanies this distribution, and is 00005 * available at http://www.eclipse.org/legal/epl-v10.html 00006 * Contributors: 00007 * National Institute of Advanced Industrial Science and Technology (AIST) 00008 */ 00009 00010 #ifndef OPENHRP_UTIL_EIGEN4D_H_INCLUDED 00011 #define OPENHRP_UTIL_EIGEN4D_H_INCLUDED 00012 00013 #include "config.h" 00014 #include "EigenTypes.h" 00015 00016 namespace hrp 00017 { 00018 class VrmlTransform; 00019 00020 typedef Eigen::Matrix4d Matrix44; 00021 typedef Eigen::Vector4d Vector4; 00022 00023 HRP_UTIL_EXPORT void calcRodrigues(Matrix44& out_R, const Vector3& axis, double q); 00024 HRP_UTIL_EXPORT void calcTransformMatrix(VrmlTransform* transform, Matrix44& out_T); 00025 }; 00026 00027 #endif