SO3Joint.hpp

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#ifndef AIKIDO_STATESPACE_DART_SO3JOINTSTATESPACE_HPP_
#define AIKIDO_STATESPACE_DART_SO3JOINTSTATESPACE_HPP_
 
#include "aikido/statespace/SO3.hpp"
#include "aikido/statespace/dart/JointStateSpace.hpp"
 
namespace aikido {
namespace statespace {
namespace dart {
 
class SO3Joint
  : public SO3
  , public JointStateSpace
  , public std::enable_shared_from_this<SO3Joint>
{
public:
  using SO3::State;
 
  explicit SO3Joint(const ::dart::dynamics::BallJoint* joint);
 
  // Documentation inherited.
  void convertPositionsToState(
      const Eigen::VectorXd& positions,
      StateSpace::State* state) const override;
 
  // Documentation inherited.
  void convertStateToPositions(
      const StateSpace::State* state,
      Eigen::VectorXd& positions) const override;
};
 
} // namespace dart
} // namespace statespace
} // namespace aikido
 
#endif // ifndef AIKIDO_STATESPACE_SO3JOINTSTATESPACE_HPP_