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6 #ifndef __sot_torque_control_vector_conversion_H__
7 #define __sot_torque_control_vector_conversion_H__
13 #define EIGEN_CONST_VECTOR_FROM_STD_VECTOR(name, signal) Eigen::const_SigVectorXd name(signal.data(), signal.size())
14 #define EIGEN_VECTOR_FROM_STD_VECTOR(name, signal) Eigen::SigVectorXd name(signal.data(), signal.size())
22 #define COPY_ARRAY_TO_ARRAY(src, dest, size) \
23 for (unsigned int i = 0; i < size; i++) dest[i] = src[i]
25 #define COPY_ARRAY_TO_VECTOR(src, dest) \
26 for (unsigned int i = 0; i < dest.size(); i++) dest(i) = src[i]
28 #define COPY_VECTOR_TO_ARRAY(src, dest) \
29 for (unsigned int i = 0; i < src.size(); i++) dest[i] = src(i)
31 #define COPY_SHIFTED_VECTOR_TO_VECTOR(src, dest, offset) \
32 for (unsigned int i = 0; i < dest.size(); i++) dest(i) = src(i + offset)
34 #define COPY_SHIFTED_VECTOR_TO_ARRAY(src, dest, offset) \
35 for (unsigned int i = 0; i < dest.size(); i++) dest[i] = src(i + offset)
37 #define COPY_VECTOR_TO_SHIFTED_VECTOR(src, dest, offset) \
38 for (unsigned int i = 0; i < src.size(); i++) dest(i + offset) = src(i)
40 #define COPY_ARRAY_TO_SHIFTED_VECTOR(src, dest, offset) \
41 for (unsigned int i = 0; i < src.size(); i++) dest(i + offset) = src[i]
43 #endif // __sot_torque_control_vector_conversion_H__