4 #ifndef __multicontact_api_geometry_ellipsoid_hpp__ 5 #define __multicontact_api_geometry_ellipsoid_hpp__ 14 template <
typename _Scalar,
int _dim,
int _Options>
16 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
21 typedef Eigen::Matrix<Scalar, dim, dim, Options>
Matrix;
22 typedef Eigen::Matrix<Scalar, dim, 1, Options>
Vector;
35 void disp(std::ostream& os)
const {
38 <<
"center: " <<
m_center.transpose() << std::endl;
56 #endif // ifndef __multicontact_api_geometry_ellipsoid_hpp__