5 #ifndef __pinocchio_se3_hpp__ 6 #define __pinocchio_se3_hpp__ 8 #include "pinocchio/spatial/fwd.hpp" 9 #include "pinocchio/macros.hpp" 11 #define PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived,TYPENAME) \ 12 typedef TYPENAME traits<Derived>::Scalar Scalar; \ 13 typedef TYPENAME traits<Derived>::AngularType AngularType; \ 14 typedef TYPENAME traits<Derived>::LinearType LinearType; \ 15 typedef TYPENAME traits<Derived>::AngularRef AngularRef; \ 16 typedef TYPENAME traits<Derived>::LinearRef LinearRef; \ 17 typedef TYPENAME traits<Derived>::ConstAngularRef ConstAngularRef; \ 18 typedef TYPENAME traits<Derived>::ConstLinearRef ConstLinearRef; \ 19 typedef TYPENAME traits<Derived>::ActionMatrixType ActionMatrixType; \ 20 typedef TYPENAME traits<Derived>::HomogeneousMatrixType HomogeneousMatrixType; \ 22 Options = traits<Derived>::Options, \ 23 LINEAR = traits<Derived>::LINEAR, \ 24 ANGULAR = traits<Derived>::ANGULAR \ 27 #define PINOCCHIO_SE3_TYPEDEF_TPL(Derived) \ 28 PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived,typename) 30 #define PINOCCHIO_SE3_TYPEDEF(Derived) \ 31 PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG) 42 #include "pinocchio/spatial/se3-base.hpp" 43 #include "pinocchio/spatial/se3-tpl.hpp" 45 #endif // ifndef __pinocchio_se3_hpp__
Main pinocchio namespace.