pinocchio
2.2.1-dirty
multibody/fwd.hpp
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//
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// Copyright (c) 2017-2019 CNRS INRIA
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//
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#ifndef __pinocchio_multibody_fwd_hpp__
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#define __pinocchio_multibody_fwd_hpp__
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#include "pinocchio/fwd.hpp"
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#include "pinocchio/multibody/joint/fwd.hpp"
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namespace
pinocchio
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{
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template
<
typename
Scalar,
int
Options=0>
struct
FrameTpl;
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template
<
typename
Scalar,
int
Options = 0,
template
<
typename
S,
int
O>
class
JointCollectionTpl = JointCollectionDefaultTpl>
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struct
ModelTpl
;
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template
<
typename
Scalar,
int
Options = 0,
template
<
typename
S,
int
O>
class
JointCollectionTpl =
JointCollectionDefaultTpl
>
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struct
DataTpl
;
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typedef
std::size_t Index;
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typedef
Index JointIndex;
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typedef
Index GeomIndex;
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typedef
Index FrameIndex;
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typedef
Index PairIndex;
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typedef
FrameTpl<double>
Frame
;
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typedef
ModelTpl<double>
Model
;
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typedef
DataTpl<double>
Data
;
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struct
GeometryModel
;
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struct
GeometryData
;
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enum
ReferenceFrame
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{
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WORLD = 0,
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LOCAL = 1,
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LOCAL_WORLD_ALIGNED = 2
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};
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// end of group multibody
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// Forward declaration needed for Model::check
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template
<
class
D>
struct
AlgorithmCheckerBase
;
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}
// namespace pinocchio
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#endif // #ifndef __pinocchio_multibody_fwd_hpp__
pinocchio::DataTpl
Definition:
data.hpp:27
pinocchio::FrameTpl
A Plucker coordinate frame attached to a parent joint inside a kinematic tree.
Definition:
multibody/frame.hpp:31
pinocchio::GeometryData
Definition:
multibody/geometry.hpp:151
pinocchio::AlgorithmCheckerBase
CRTP class describing the API of the checkers.
Definition:
check.hpp:22
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:24
pinocchio::JointCollectionDefaultTpl
Definition:
multibody/joint/fwd.hpp:79
pinocchio::GeometryModel
Definition:
multibody/geometry.hpp:23
pinocchio::ModelTpl
Definition:
multibody/fwd.hpp:18
src
multibody
fwd.hpp
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