miscellaneous.h

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#ifndef IIT_ROBCOGEN__CT_INVERTEDPENDULUM_MISCELLANEOUS_H_
#define IIT_ROBCOGEN__CT_INVERTEDPENDULUM_MISCELLANEOUS_H_

#include "inertia_properties.h"
#include "transforms.h"

namespace iit {
namespace ct_InvertedPendulum {


iit::rbd::Vector3d getWholeBodyCOM(
    const dyn::InertiaProperties& inertia,
    const HomogeneousTransforms& transforms);
iit::rbd::Vector3d getWholeBodyCOM(
    const dyn::InertiaProperties& inertia,
    const JointState& q,
    HomogeneousTransforms& transforms);

}
}

#endif