JointTransform.hpp

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#ifndef BASE_JOINT_TRANSFORM_HPP
#define BASE_JOINT_TRANSFORM_HPP

#include <string>
#include <base/Eigen.hpp>
#include <base/NamedVector.hpp>
#include <base/samples/Joints.hpp>
#include <base/samples/RigidBodyState.hpp>

namespace base
{

struct JointTransform
{
    std::string sourceFrame;
    std::string targetFrame;
    base::Vector3d rotationAxis;
};

struct JointTransformVector : public base::NamedVector<JointTransform>
{
    void setRigidBodyStates( const base::samples::Joints& joints, std::vector<base::samples::RigidBodyState>& rbs ) const;
};

}

#endif