Gains.h

Go to the documentation of this file.

/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <Eigen/Core>
 
namespace mc_rbdyn
{
 
template<int N>
struct Gains : public Eigen::Matrix<double, N, 1>
{
  static_assert(N > 0, "This is only usable for fixed-size gains");
 
  using Eigen::Matrix<double, N, 1>::Matrix;
 
  Gains(double value) { this->setConstant(value); }
};
 
using Gains2d = Gains<2>;
using Gains3d = Gains<3>;
using Gains6d = Gains<6>;
 
} // namespace mc_rbdyn