1 #ifndef IIT_ROBCOGEN__CT_HYA_MISCELLANEOUS_H_ 2 #define IIT_ROBCOGEN__CT_HYA_MISCELLANEOUS_H_ 5 #include "transforms.h" 28 const HomogeneousTransforms& transforms);
39 HomogeneousTransforms& transforms);
Definition: derivativeIvState.hpp:21
tpl::InertiaProperties< rbd::DoubleTrait > InertiaProperties
Definition: inertia_properties.h:156
Column12d< SCALAR > JointState
iit::rbd::Vector3d getWholeBodyCOM(const dyn::InertiaProperties &inertia, const HomogeneousTransforms &transforms)