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;
22 template<
typename Scalar,
int Options=0>
struct PINOCCHIO_DEPRECATED
BiasZeroTpl;
24 template<
typename Derived>
class ForceBase;
26 template<
typename Vector6ArgType>
class ForceRef;
27 template<
typename Scalar,
int Options=0>
class ForceTpl;
29 template<
typename Scalar,
int Options=0>
class InertiaTpl;
35 template<
typename Type,
typename Scalar>
36 struct RHSScalarMultiplication
38 typedef Type ReturnType;
42 template<
typename Type,
typename Scalar>
43 struct LHSScalarMultiplication
45 typedef Type ReturnType;
61 #pragma GCC diagnostic push 62 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 64 #pragma GCC diagnostic pop 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; \ 90 LINEAR = traits<derived>::LINEAR, \ 91 ANGULAR = traits<derived>::ANGULAR \ 94 #define SPATIAL_TYPEDEF_TEMPLATE(derived) \ 95 SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,typename) 97 #define SPATIAL_TYPEDEF_NO_TEMPLATE(derived) \ 98 SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived,PINOCCHIO_MACRO_EMPTY_ARG) 103 #endif // ifndef __pinocchio_spatial_fwd_hpp__
BiasZeroTpl has been replaced by MotionZeroTpl. Please use this naming instead.
Base interface for forces representation.
Main pinocchio namespace.