Spatial.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef _RL_MATH_SPATIAL_H_
#define _RL_MATH_SPATIAL_H_
 
#define EIGEN_MATRIXBASE_PLUGIN <rl/math/MatrixBaseAddons.h>
#define EIGEN_QUATERNIONBASE_PLUGIN <rl/math/QuaternionBaseAddons.h>
 
#include "Real.h"
 
#include "ArticulatedBodyInertia.h"
#include "ForceVector.h"
#include "MotionVector.h"
#include "PlueckerTransform.h"
#include "RigidBodyInertia.h"
 
#include "ArticulatedBodyInertia.hxx"
#include "ForceVector.hxx"
#include "MotionVector.hxx"
#include "PlueckerTransform.hxx"
#include "RigidBodyInertia.hxx"
 
namespace rl
{
    namespace math
    {
        typedef spatial::ArticulatedBodyInertia< Real > ArticulatedBodyInertia;
        
        typedef spatial::ForceVector< Real > ForceVector;
        
        typedef spatial::MotionVector< Real > MotionVector;
        
        typedef spatial::PlueckerTransform< Real > PlueckerTransform;
        
        typedef spatial::RigidBodyInertia< Real > RigidBodyInertia;
    }
}
 
#endif // _RL_MATH_SPATIAL_H_