Aikido
util.hpp
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1 #ifndef AIKIDO_PLANNER_DART_UTIL_HPP_
2 #define AIKIDO_PLANNER_DART_UTIL_HPP_
3 
4 #include <dart/dynamics/dynamics.hpp>
5 
6 namespace aikido {
7 namespace planner {
8 namespace dart {
9 namespace util {
10 
14 Eigen::Vector3d getEndEffectorDirection(
15  const ::dart::dynamics::ConstBodyNodePtr& body);
16 
17 } // namespace util
18 } // namespace dart
19 } // namespace planner
20 } // namespace aikido
21 
22 #endif // AIKIDO_PLANNER_DART_UTIL_HPP_
aikido
Format of serialized trajectory in YAML.
Definition: algorithm.hpp:4
aikido::planner::dart::util::getEndEffectorDirection
Eigen::Vector3d getEndEffectorDirection(const ::dart::dynamics::ConstBodyNodePtr &body)
Returns the direction of an end-effector (along z axis) in the world frame.
dart
Definition: FrameMarker.hpp:11