constructPtrRigidBodyConstraint.h

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#pragma once

#include <mex.h>

#include <Eigen/Dense>

#if defined(WIN32) || defined(WIN64)
#if defined(drakeConstructRigidBodyConstraint_EXPORTS)
#define CONSTRUCT_CONSTRAINT_DLLEXPORT __declspec(dllexport)
#else
#define CONSTRUCT_CONSTRAINT_DLLEXPORT __declspec(dllimport)
#endif
#else
#define CONSTRUCT_CONSTRAINT_DLLEXPORT
#endif

CONSTRUCT_CONSTRAINT_DLLEXPORT mxArray* createDrakeConstraintMexPointer(
    void* ptr, const char* name);
CONSTRUCT_CONSTRAINT_DLLEXPORT void rigidBodyConstraintParseTspan(
    const mxArray* pm, Eigen::Vector2d& tspan);
CONSTRUCT_CONSTRAINT_DLLEXPORT void rigidBodyConstraintParse3dUnitVector(
    const mxArray* pm, Eigen::Vector3d& unit_vec);
CONSTRUCT_CONSTRAINT_DLLEXPORT void rigidBodyConstraintParseQuat(
    const mxArray* pm, Eigen::Vector4d& quat);
CONSTRUCT_CONSTRAINT_DLLEXPORT double rigidBodyConstraintParseGazeConethreshold(
    const mxArray* pm);
CONSTRUCT_CONSTRAINT_DLLEXPORT double rigidBodyConstraintParseGazeThreshold(
    const mxArray* pm);