6 #ifndef __pinocchio_spatial_fwd_hpp__ 7 #define __pinocchio_spatial_fwd_hpp__ 9 #include "pinocchio/fwd.hpp" 10 #include "pinocchio/macros.hpp" 15 template<
typename Scalar,
int Options=0>
struct SE3Tpl;
20 template<
typename Scalar,
int Options=0>
class MotionTpl;
23 template<
typename Derived>
class ForceBase;
25 template<
typename Vector6ArgType>
class ForceRef;
26 template<
typename Scalar,
int Options=0>
class ForceTpl;
28 template<
typename Scalar,
int Options=0>
class InertiaTpl;
34 template<
typename Type,
typename Scalar>
35 struct RHSScalarMultiplication
37 typedef Type ReturnType;
41 template<
typename Type,
typename Scalar>
42 struct LHSScalarMultiplication
44 typedef Type ReturnType;
65 #define SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,TYPENAME) \ 66 typedef TYPENAME traits<derived>::Scalar Scalar; \ 67 typedef TYPENAME traits<derived>::Vector3 Vector3; \ 68 typedef TYPENAME traits<derived>::Vector4 Vector4; \ 69 typedef TYPENAME traits<derived>::Vector6 Vector6; \ 70 typedef TYPENAME traits<derived>::Matrix3 Matrix3; \ 71 typedef TYPENAME traits<derived>::Matrix4 Matrix4; \ 72 typedef TYPENAME traits<derived>::Matrix6 Matrix6; \ 73 typedef TYPENAME traits<derived>::Angular_t Angular_t; \ 74 typedef TYPENAME traits<derived>::Linear_t Linear_t; \ 75 typedef TYPENAME traits<derived>::ConstAngular_t ConstAngular_t; \ 76 typedef TYPENAME traits<derived>::ConstLinear_t ConstLinear_t; \ 77 typedef TYPENAME traits<derived>::ActionMatrix_t ActionMatrix_t; \ 78 typedef TYPENAME traits<derived>::Quaternion_t Quaternion_t; \ 79 typedef TYPENAME traits<derived>::SE3 SE3; \ 80 typedef TYPENAME traits<derived>::Force Force; \ 81 typedef TYPENAME traits<derived>::Motion Motion; \ 82 typedef TYPENAME traits<derived>::Symmetric3 Symmetric3; \ 84 LINEAR = traits<derived>::LINEAR, \ 85 ANGULAR = traits<derived>::ANGULAR \ 88 #define SPATIAL_TYPEDEF_TEMPLATE(derived) \ 89 SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,typename) 91 #define SPATIAL_TYPEDEF_NO_TEMPLATE(derived) \ 92 SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,PINOCCHIO_MACRO_EMPTY_ARG) 97 #endif // ifndef __pinocchio_spatial_fwd_hpp__
Base interface for forces representation.
Main pinocchio namespace.