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1 parent 1d38d62 commit 5025917Copy full SHA for 5025917
roboticstoolbox/core/structs.h
@@ -9,9 +9,9 @@
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#define STRUCTS_H
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// #include "linalg.h"
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-// #ifdef __cplusplus
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-// #include <Eigen/Dense>
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-// #endif /* __cplusplus */
+#ifdef __cplusplus
+#include <Eigen/Dense>
+#endif /* __cplusplus */
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#ifdef __cplusplus
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extern "C"
@@ -31,10 +31,13 @@ extern "C"
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int isflip;
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int jindex;
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int axis;
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- double *T; /* link static transform */
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- // Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor>> Tm;
+ double *T; /* link static transform */
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double *qlim; /* joint limits */
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void (*op)(double *data, double eta);
+
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+ Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor>> Tm;
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};
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// struct ET
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