update

1 files changed, 29 insertions, 0 deletions

diff --git a/src/types.cpp b/src/types.cpp
new file mode 100644
index 0000000..151fd63
--- /dev/null
+++ b/src/types.cpp
@@ -0,0 +1,29 @@
+/*
+ * =====================================================================================
+ *
+ *       Filename:  types.cpp
+ *
+ *    Description:  
+ *
+ *        Version:  1.0
+ *        Created:  03/27/2017 03:26:51 PM
+ *       Revision:  none
+ *       Compiler:  gcc
+ *
+ *         Author:  Martin Miller (MHM), miller7@illinois.edu
+ *   Organization:  Aerospace Robotics and Controls Lab (ARC)
+ *
+ * =====================================================================================
+ */
+
+
+#include "types.h"
+
+double 
+aboveWater(const Quaterniond &q)
+{
+    Vector3d tip;
+    tip << 0.65*3.43, 0, -0.60;
+    tip = q._transformVector(tip);
+    return tip[2];
+}