30 #ifndef _RL_MATH_FORCEVECTOR_H_
31 #define _RL_MATH_FORCEVECTOR_H_
44 template<
typename Scalar >
48 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
52 typedef typename ::Eigen::Matrix< Scalar, 6, 1 >
MatrixType;
60 typedef ::Eigen::Block< MatrixType, 3, 1 >
ForceType;
68 template<
typename OtherDerived >
69 ForceVector(const ::Eigen::MatrixBase< OtherDerived >& other) :
78 template<
typename OtherScalar >
83 return data.template segment< 3 >(3);
88 return data.template segment< 3 >(3);
98 return data.template segment< 3 >(0);
103 return data.template segment< 3 >(0);
106 template<
typename OtherDerived >
129 template<
typename OtherScalar >
138 template<
typename OtherScalar >
164 #endif // _RL_MATH_FORCEVECTOR_H_