Eigen4d.h
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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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:16