00001 00009 /***************************************************************************** 00010 ** Ifdefs 00011 *****************************************************************************/ 00012 00013 #ifndef ecl_geometry_GEOMETRY_POSE_HPP_ 00014 #define ecl_geometry_GEOMETRY_POSE_HPP_ 00015 00016 /***************************************************************************** 00017 ** Includes 00018 *****************************************************************************/ 00019 00020 #include <ecl/linear_algebra.hpp> 00021 00022 /***************************************************************************** 00023 ** Namespaces 00024 *****************************************************************************/ 00025 00026 namespace ecl { 00027 00028 /***************************************************************************** 00029 ** Interfaces 00030 *****************************************************************************/ 00031 00032 // prefer to typedef these as and where needed rather than 'force' typedefs 00033 // on users of this library (this lets us fling classes and libraries around 00034 // for which the only dependencies are Eigen and Sophus) 00035 00036 //typedef Eigen::Vector3f Pose2D; /**< @brief 2D float representation of planner poses (x, y, heading). **/ 00037 //typedef Sophus::SE3f Pose3D; /**< @brief 3D float representation of planner poses. **/ 00038 00039 // Haven't had the need to use doubles yet... 00040 00041 /***************************************************************************** 00042 ** Trailers 00043 *****************************************************************************/ 00044 00045 } // namespace ecl 00046 00047 #endif /* ecl_geometry_GEOMETRY_POSE_HPP_ */