dynamics_math.h

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#pragma once 
#include <iostream>
 
#include <eigen3/Eigen/Core>
 
 
namespace dm
{
 
    struct JointState{
        // Position vector 
        Eigen::Vector3d position = {0.0, 0.0, 0.0};
 
        // Orientation vector (euler angles) 
        Eigen::Vector3d euler = {0.0, 0.0, 0.0};
    };
}