Inertial.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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#ifndef _MIRA_INERTIAL_H_
#define _MIRA_INERTIAL_H_

#include <transform/Pose.h>

namespace mira { namespace model {


class Inertial
{
public:
    
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Origin", origin, "Origin of the link", Pose3());
        r.member("Mass", mass, "Mass of the link");
    }

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    Pose3 origin;
    float mass; 
};

typedef boost::shared_ptr<Inertial> InertialPtr;


}}

#endif