angular_acceleration.h

Go to the documentation of this file.

#ifndef OPEN_WALKER_CORE_ANGULAR_ACCELERATION_H
#define OPEN_WALKER_CORE_ANGULAR_ACCELERATION_H

#include <ow_core/angular_acceleration_ref.h>

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

protected:
  Derived data_;

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

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

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

  using Base::operator=;

};

}  // namespace ow_core

#endif  // OPEN_WALKER_CORE_ANGULAR_ACCELERATION_H