world.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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#pragma once

#include <Eigen/Dense>

namespace world
{

constexpr double GRAVITY = 9.80665; // ISO 80000-3

const Eigen::Vector3d gravity = Eigen::Vector3d{0., 0., -GRAVITY};
const Eigen::Vector3d vertical = Eigen::Vector3d{0., 0., 1.};

} // namespace world