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 2  // Copyright 2019 FZI Research Center for Information Technology
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29  ////////////////////////////////////////////////////////////////////////////////
30  
31  //-----------------------------------------------------------------------------
32  /*!\file    Utility.h
33   *
34   * \author  Stefan Scherzinger <scherzin@fzi.de>
35   * \date    2016/02/16
36   *
37   */
38  //-----------------------------------------------------------------------------
39  
40  #ifndef UTILITY_H_INCLUDED
41  #define UTILITY_H_INCLUDED
42  
43  #include <Eigen/Dense>
44  
45  /*! \brief Convenience typedefs
46     *
47     *  Note: For 6D vectors the order is first linear, then angular
48     */
49  namespace ctrl
50  {
51  typedef Eigen::Matrix<double, 6, 1> Vector6D;
52  
53  typedef Eigen::VectorXd VectorND;
54  
55  typedef Eigen::Vector3d Vector3D;
56  
57  typedef Eigen::MatrixXd MatrixND;
58  
59  typedef Eigen::Matrix3d Matrix3D;
60  
61  typedef Eigen::Matrix<double, 6, 6> Matrix6D;
62  
63  typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> MatrixND;
64  
65  }  // namespace ctrl
66  
67  #endif