/*
 * =====================================================================================
 *
 *       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];
}