Program Listing for File twist.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include "rcppsw/math/radians.hpp"
#include "rcppsw/math/vector3.hpp"

#include "cosm/cosm.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::kin {

/*******************************************************************************
 * Struct Definitions
 ******************************************************************************/
struct twist {
  rmath::vector3d linear{};
  rmath::vector3d angular{};

  twist& operator+=(const twist &rhs) {
    this->linear += rhs.linear;
    this->angular += rhs.angular;

    return *this;
  }

};

} /* namespace cosm::kin */