Base.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/api.h>
 
#include <RBDyn/Joint.h>
 
#include <string>
 
namespace mc_rbdyn
{
 
struct MC_RBDYN_DLLAPI Base
{
  std::string baseName;
  sva::PTransformd X_0_s;
  sva::PTransformd X_b0_s;
  rbd::Joint::Type baseType;
};
 
} // namespace mc_rbdyn