angular_velocity.h

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#ifndef OPEN_WALKER_CORE_ANGULAR_VELOCITY_H
#define OPEN_WALKER_CORE_ANGULAR_VELOCITY_H

#include <ow_core/angular_velocity_ref.h>

namespace ow_core
{
template <typename _Scalar>
class AngularVelocity :
    public AngularVelocityRef<Eigen::Matrix<_Scalar,3,1> >
{
public:
  typedef _Scalar Scalar;
  typedef Eigen::Matrix<_Scalar,3,1> Derived;
  typedef AngularVelocityRef<Derived> Base;

protected:
  Derived data_;

public:
  AngularVelocity() :
    Base(data_)
  {
  }

  AngularVelocity(const Scalar& x, const Scalar& y, const Scalar& z) :
    data_(x,y,z),
    Base(data_)
  {
  }

  template <typename OtherDerived>
  AngularVelocity(const Eigen::EigenBase<OtherDerived>& other) :
    data_(other),
    Base(data_)
  {
  }

  using Base::operator=;

};

}  // namespace ow_core

#endif  // OPEN_WALKER_CORE_ANGULAR_VELOCITY_H