opw_kinematics.h

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#ifndef OPW_KINEMATICS_H
#define OPW_KINEMATICS_H

#include <Eigen/Dense>
#include "opw_kinematics/opw_parameters.h"

namespace opw_kinematics
{

template <typename T>
using Transform = Eigen::Transform<T, 3, Eigen::Isometry>;

template <typename T>
void inverse(const Parameters<T>& params, const Transform<T>& pose, T* out) noexcept;

template <typename T>
Transform<T> forward(const Parameters<T>& p, const T* qs) noexcept;

#include "opw_kinematics/opw_kinematics_impl.h"

} // end namespace opw_kinematics

#endif // OPW_KINEMATICS_H