pinocchio  2.3.1-dirty
spatial/fwd.hpp
1 //
2 // Copyright (c) 2015-2018 CNRS
3 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5 
6 #ifndef __pinocchio_spatial_fwd_hpp__
7 #define __pinocchio_spatial_fwd_hpp__
8 
9 #include "pinocchio/fwd.hpp"
10 #include "pinocchio/macros.hpp"
11 
12 namespace pinocchio
13 {
14 
15  template<typename Scalar, int Options=0> struct SE3Tpl;
16 
17  template<typename Derived> class MotionBase;
18  template<typename Derived> class MotionDense;
19  template<typename Vector6ArgType> class MotionRef;
20  template<typename Scalar, int Options=0> class MotionTpl;
21  template<typename Scalar, int Options=0> struct MotionZeroTpl;
22  template<typename Scalar, int Options=0> struct PINOCCHIO_DEPRECATED BiasZeroTpl;
23 
24  template<typename Derived> class ForceBase;
25  template<typename Derived> class ForceDense;
26  template<typename Vector6ArgType> class ForceRef;
27  template<typename Scalar, int Options=0> class ForceTpl;
28 
29  template<typename Scalar, int Options=0> class InertiaTpl;
30  template<typename Scalar, int Options=0> class Symmetric3Tpl;
31 
32  namespace internal
33  {
35  template<typename Type, typename Scalar>
36  struct RHSScalarMultiplication
37  {
38  typedef Type ReturnType;
39  };
40 
42  template<typename Type, typename Scalar>
43  struct LHSScalarMultiplication
44  {
45  typedef Type ReturnType;
46  };
47  }
48 
54  typedef SE3Tpl <double,0> SE3;
56  typedef ForceTpl <double,0> Force;
60 
61 #pragma GCC diagnostic push
62 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
64 #pragma GCC diagnostic pop
65 
69  // end of group spatial
70 
71  #define SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,TYPENAME) \
72  typedef TYPENAME traits<derived>::Scalar Scalar; \
73  typedef TYPENAME traits<derived>::Vector3 Vector3; \
74  typedef TYPENAME traits<derived>::Vector4 Vector4; \
75  typedef TYPENAME traits<derived>::Vector6 Vector6; \
76  typedef TYPENAME traits<derived>::Matrix3 Matrix3; \
77  typedef TYPENAME traits<derived>::Matrix4 Matrix4; \
78  typedef TYPENAME traits<derived>::Matrix6 Matrix6; \
79  typedef TYPENAME traits<derived>::Angular_t Angular_t; \
80  typedef TYPENAME traits<derived>::Linear_t Linear_t; \
81  typedef TYPENAME traits<derived>::ConstAngular_t ConstAngular_t; \
82  typedef TYPENAME traits<derived>::ConstLinear_t ConstLinear_t; \
83  typedef TYPENAME traits<derived>::ActionMatrix_t ActionMatrix_t; \
84  typedef TYPENAME traits<derived>::Quaternion_t Quaternion_t; \
85  typedef TYPENAME traits<derived>::SE3 SE3; \
86  typedef TYPENAME traits<derived>::Force Force; \
87  typedef TYPENAME traits<derived>::Motion Motion; \
88  typedef TYPENAME traits<derived>::Symmetric3 Symmetric3; \
89  enum { \
90  LINEAR = traits<derived>::LINEAR, \
91  ANGULAR = traits<derived>::ANGULAR \
92  }
93 
94  #define SPATIAL_TYPEDEF_TEMPLATE(derived) \
95  SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,typename)
96 
97  #define SPATIAL_TYPEDEF_NO_TEMPLATE(derived) \
98  SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,PINOCCHIO_MACRO_EMPTY_ARG)
99 
100 
101 } // namespace pinocchio
102 
103 #endif // ifndef __pinocchio_spatial_fwd_hpp__
BiasZeroTpl has been replaced by MotionZeroTpl. Please use this naming instead.
Base interface for forces representation.
Definition: force-base.hpp:27
Main pinocchio namespace.
Definition: treeview.dox:24