TransformWithVelocity.h

/*
 * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_TRANSFORMWITHVELOCITY_H
#define ROBOTSIO_TRANSFORMWITHVELOCITY_H
 
#include <RobotsIO/Utils/Transform.h>
 
#include <Eigen/Dense>
 
namespace RobotsIO {
    namespace Utils {
        class TransformWithVelocity;
 
        struct TransformWithVelocityStorage;
    }
}
 
struct RobotsIO::Utils::TransformWithVelocityStorage
{
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    Eigen::Transform<double, 3, Eigen::Affine> transform;
 
    Eigen::Vector3d linear_velocity;
 
    Eigen::Vector3d angular_velocity;
};
 
 
class RobotsIO::Utils::TransformWithVelocity : public RobotsIO::Utils::Transform
{
public:
    virtual ~TransformWithVelocity();
 
    virtual Eigen::Vector3d linear_velocity() = 0;
 
    virtual Eigen::Vector3d angular_velocity() = 0;
};
 
#endif /* ROBOTSIO_TRANSFORMWVELOCITY_H */