collision_proximity_planner_utils.h

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#ifndef CHOMP_UTILS_H_
#define CHOMP_UTILS_H_

#include <kdl/jntarray.hpp>
#include <iostream>
#include <Eigen/Core>
#include <cstdlib>
#include <map>
#include <vector>
#include <string>

namespace collision_proximity_planner
{

template<typename KDLType, typename EigenType>
void kdlVecToEigenVec(std::vector<KDLType>& kdl_v, std::vector<Eigen::Map<EigenType> >& eigen_v, int rows, int cols)
{
  int size = kdl_v.size();
  eigen_v.clear();
  for (int i=0; i<size; i++)
  {
    eigen_v.push_back(Eigen::Map<EigenType>(kdl_v[i].data, rows, cols));
  }
}

template<typename KDLType, typename EigenType>
void kdlVecVecToEigenVecVec(std::vector<std::vector<KDLType> >& kdl_vv, std::vector<std::vector<Eigen::Map<EigenType> > > & eigen_vv, int rows, int cols)
{
  int size = kdl_vv.size();
  eigen_vv.resize(size);
  for (int i=0; i<size; i++)
  {
    kdlVecToEigenVec(kdl_vv[i], eigen_vv[i], rows, cols);
  }
}

}

#endif