From 1ec9ab119eea4947829e55810daf30a9e250f089 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 10 Oct 2023 14:06:23 -0500
Subject: [PATCH] Add Eigen::Vector3d yaml support

---
 .../include/tesseract_common/yaml_utils.h     | 24 +++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/tesseract_common/include/tesseract_common/yaml_utils.h b/tesseract_common/include/tesseract_common/yaml_utils.h
index abd5205922e..4bbfafdda5e 100644
--- a/tesseract_common/include/tesseract_common/yaml_utils.h
+++ b/tesseract_common/include/tesseract_common/yaml_utils.h
@@ -358,6 +358,30 @@ struct convert<Eigen::Vector2d>
   }
 };
 
+template <>
+struct convert<Eigen::Vector3d>
+{
+  static Node encode(const Eigen::Vector3d& rhs)
+  {
+    Node node;
+    for (long i = 0; i < rhs.size(); ++i)
+      node.push_back(rhs(i));
+
+    return node;
+  }
+
+  static bool decode(const Node& node, Eigen::Vector3d& rhs)
+  {
+    if (!node.IsSequence() || (node.size() != 3))
+      return false;
+
+    for (long i = 0; i < 3; ++i)
+      rhs(i) = node[i].as<double>();
+
+    return true;
+  }
+};
+
 template <>
 struct convert<tesseract_common::KinematicsPluginInfo>
 {