contact_transform.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#ifndef _H_CONTACTTRANSFORM_H_
#define _H_CONTACTTRANSFORM_H_
 
#include <mc_rbdyn/api.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
#include <vector>
 
namespace mc_rbdyn
{
 
struct Surface;
 
MC_RBDYN_DLLAPI sva::PTransformd planar(const double & T, const double & B, const double & N_rot);
 
MC_RBDYN_DLLAPI sva::PTransformd cylindrical(const double & T, const double & T_rot);
 
MC_RBDYN_DLLAPI void planarParam(const sva::PTransformd & X_es_rs, double & T, double & B, double & N_rot);
 
MC_RBDYN_DLLAPI void cylindricalParam(const sva::PTransformd & X_es_rs, double & T, double & T_rot);
 
MC_RBDYN_DLLAPI std::vector<double> jointParam(const Surface & r1Surface,
                                               const Surface & r2Surface,
                                               const sva::PTransformd & X_es_rs);
 
} // namespace mc_rbdyn
 
#endif