alpositionandvelocity.h

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/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef _LIBALMATH_ALMATH_TYPES_ALPOSITIONANDVELOCITY_H_
#define _LIBALMATH_ALMATH_TYPES_ALPOSITIONANDVELOCITY_H_

#include <vector>
#include <almath/api.h>

namespace AL {
  namespace Math {

    struct ALMATH_API PositionAndVelocity
    {
      float q;
      float dq;


      PositionAndVelocity(
          const float pq = 0.0f,
          const float pdq = 0.0f);

      bool isNear(
        const PositionAndVelocity& pDat2,
        const float&               pEpsilon=0.0001f) const;


      void toVector(std::vector<float>& pReturnVector) const;
      std::vector<float> toVector(void) const;
    };

  }
}
#endif  // _LIBALMATH_ALMATH_TYPES_ALPOSITIONANDVELOCITY_H_