basic_types.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <vector>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace armarx::navigation::core
{
    using Pose = Eigen::Isometry3f;
    using Pose_d = Eigen::Isometry3d;
 
    using Pose2D = Eigen::Isometry2f;
 
    using Position = Eigen::Vector3f;
    using Positions = std::vector<Position>;
 
    using Direction = Eigen::Vector3f;
 
    using Rotation = Eigen::Matrix3f;
 
    using LinearVelocity = Eigen::Vector3f;
    using AngularVelocity = Eigen::Vector3f;
 
    using Path = std::vector<Pose>;
 
    struct Waypoint
    {
        Pose pose;
    };
 
    struct Twist
    {
        LinearVelocity linear = LinearVelocity::Zero();
        AngularVelocity angular = AngularVelocity::Zero();
 
        Pose poseDiff(float dt) const;
 
        static Twist Zero();
    };
 
} // namespace armarx::navigation::core