altransformandvelocity6d.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_ALTRANSFORMANDVELOCITY6D_H_
#define _LIBALMATH_ALMATH_TYPES_ALTRANSFORMANDVELOCITY6D_H_

#include <almath/api.h>
#include <almath/types/altransform.h>
#include <almath/types/alvelocity6d.h>

namespace AL {
  namespace Math {

    struct ALMATH_API TransformAndVelocity6D
    {
        AL::Math::Transform  T;
        AL::Math::Velocity6D V;

        TransformAndVelocity6D();

        TransformAndVelocity6D(
            const AL::Math::Transform& pT,
            const AL::Math::Velocity6D& pV);

        bool isNear(
            const TransformAndVelocity6D& pTV2,
            const float&                  pEpsilon=0.0001f) const;

    };

  }
}
#endif  // _LIBALMATH_ALMATH_TYPES_ALTRANSFORMANDVELOCITY6D_H_