opw_parameters.h

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#ifndef OPW_PARAMETERS_H
#define OPW_PARAMETERS_H

#include <type_traits>

namespace opw_kinematics
{

template <typename T>
struct Parameters
{
  static_assert(std::is_floating_point<T>::value,
                "OPW parameters must be templatized with floating point type");

  T a1, a2, b, c1, c2, c3, c4;
  T offsets[6];
  signed char sign_corrections[6];

  Parameters()
    : a1{0}, a2{0}, b{0}, c1{0}, c2{0}, c3{0}, c4{4},
      offsets{0, 0, 0, 0, 0, 0},
      sign_corrections{1, 1, 1, 1, 1, 1}
  {}
};

}

#endif // OPW_PARAMETERS_H