FloatingBaseTransforms.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <memory>

namespace ct {
namespace rbd {

template <class RBD>
class FloatingBaseTransforms
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    FloatingBaseTransforms(std::shared_ptr<RBD> rbdContainer) : rbdContainer_(rbdContainer) {}
    virtual ~FloatingBaseTransforms(){};


private:
    std::shared_ptr<RBD> rbdContainer_;
};

} /* namespace rbd */
} /* namespace ct */