pinocchio
2.4.0-dirty
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
force.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_force_hpp__
7
#define __pinocchio_force_hpp__
8
9
#include "pinocchio/spatial/fwd.hpp"
10
#include "pinocchio/spatial/se3.hpp"
11
#include "pinocchio/spatial/motion.hpp"
12
13
#define FORCE_TYPEDEF_GENERIC(Derived,TYPENAME) \
14
typedef TYPENAME traits<Derived>::Scalar Scalar; \
15
typedef TYPENAME traits<Derived>::Vector3 Vector3; \
16
typedef TYPENAME traits<Derived>::Vector6 Vector6; \
17
typedef TYPENAME traits<Derived>::Matrix6 Matrix6; \
18
typedef TYPENAME traits<Derived>::ToVectorReturnType ToVectorReturnType; \
19
typedef TYPENAME traits<Derived>::ToVectorConstReturnType ToVectorConstReturnType; \
20
typedef TYPENAME traits<Derived>::AngularType AngularType; \
21
typedef TYPENAME traits<Derived>::LinearType LinearType; \
22
typedef TYPENAME traits<Derived>::ConstAngularType ConstAngularType; \
23
typedef TYPENAME traits<Derived>::ConstLinearType ConstLinearType; \
24
typedef TYPENAME traits<Derived>::ForcePlain ForcePlain; \
25
enum { \
26
LINEAR = traits<Derived>::LINEAR, \
27
ANGULAR = traits<Derived>::ANGULAR \
28
}
29
30
#define FORCE_TYPEDEF_TPL(Derived) \
31
FORCE_TYPEDEF_GENERIC(Derived,typename)
32
33
#define FORCE_TYPEDEF(Derived) \
34
FORCE_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG)
35
36
#include "pinocchio/spatial/force-base.hpp"
37
#include "pinocchio/spatial/force-dense.hpp"
38
#include "pinocchio/spatial/force-tpl.hpp"
39
#include "pinocchio/spatial/force-ref.hpp"
40
41
#endif // ifndef __pinocchio_force_hpp__
42
src
spatial
force.hpp
Generated by
1.8.13