types.hpp

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#pragma once
 
#include <array>
#include <variant>
 
#include <Eigen/Geometry>
#include <unsupported/Eigen/EulerAngles>
 
namespace franky {
 
using Vector6d = Eigen::Vector<double, 6>;
using Vector7d = Eigen::Vector<double, 7>;
using Jacobian = Eigen::Matrix<double, 6, 7>;
using IntertiaMatrix = Eigen::Matrix<double, 3, 3>;
 
using Affine = Eigen::Affine3d;
 
template<size_t dims>
using Array = std::variant<std::array<double, dims>, Eigen::Vector<double, dims>>;
 
template<size_t dims>
using ScalarOrArray = std::variant<double, Array<dims>>;
 
}