1. Eric Cousineau
  2. rbdl

Source

rbdl / src / cmlwrapper.h

#ifndef _CMLWRAPPER_H
#define _CMLWRAPPER_H

#include "cml/cml_config.h"
#include "cml/cml.h"

typedef cml::vector<double, cml::fixed<3> > Vector3d;
typedef cml::matrix<double, cml::fixed<3,3> > Matrix3d;

typedef cml::vector<double, cml::dynamic<> > VectorNd;
typedef cml::matrix<double, cml::dynamic<> > MatrixNd;

#include "SpatialAlgebra.h"

namespace SpatialAlgebra {

namespace Templates {
	template<class T>
		class SpatialVector;

	template<class T>
		class SpatialMatrix;
}

typedef Templates::SpatialVector<double> SpatialVector;
typedef Templates::SpatialMatrix<double> SpatialMatrix;
}


#endif /* _CMLWRAPPER_H */