RigidBodyAcceleration.hpp

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#ifndef __BASE_SAMPLES_RIGID_BODY_ACCELERATION_HH
#define __BASE_SAMPLES_RIGID_BODY_ACCELERATION_HH

#include <base/Eigen.hpp>
#include <base/Time.hpp>

namespace base { namespace samples {
    struct RigidBodyAcceleration
    {
        RigidBodyAcceleration();

        base::Time time;

        base::Vector3d acceleration;
        base::Matrix3d cov_acceleration;

        base::Vector3d angular_acceleration;
        base::Matrix3d cov_angular_acceleration;

        void invalidate();

    };
}}

#endif