angular_position.h

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#ifndef OPEN_WALKER_CORE_ANGULAR_POSITION_H
#define OPEN_WALKER_CORE_ANGULAR_POSITION_H

#include <ow_core/conversions.h>
#include <ow_core/angular_position_ref.h>

namespace ow_core
{
template <typename _Scalar>
class AngularPosition :
    public AngularPositionRef<Eigen::Matrix<_Scalar,4,1> >
{
public:
  typedef _Scalar Scalar;
  typedef Eigen::Matrix<Scalar,4,1> Derived;
  typedef AngularPositionRef<Derived> Base;

protected:
  Derived data_;

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

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

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

  template <typename OtherDerived>
  AngularPosition(const Eigen::QuaternionBase<OtherDerived>& other) :
    data_(other.x(),other.y(),other.z(),other.w()),
    Base(data_)
  {
  }

  using Base::operator=;

};

}  // namespace ow_core

#endif  // OPEN_WALKER_CORE_ANGULAR_POSITION_H