pinocchio  2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
liegroup-variant.hpp
1 //
2 // Copyright (c) 2018 CNRS
3 //
4 
5 #ifndef __pinocchio_lie_group_variant_hpp__
6 #define __pinocchio_lie_group_variant_hpp__
7 
8 #include "pinocchio/multibody/liegroup/vector-space.hpp"
9 #include "pinocchio/multibody/liegroup/cartesian-product.hpp"
10 #include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
11 #include "pinocchio/multibody/liegroup/special-euclidean.hpp"
12 
13 #include <boost/variant.hpp>
14 
15 namespace pinocchio
16 {
17  typedef boost::variant< SpecialOrthogonalOperationTpl<2,double,0>
18  ,SpecialOrthogonalOperationTpl<3,double,0>
19  ,SpecialEuclideanOperationTpl<2,double,0>
20  ,SpecialEuclideanOperationTpl<3,double,0>
21  ,VectorSpaceOperationTpl<1,double>
22  ,VectorSpaceOperationTpl<2,double>
23  ,VectorSpaceOperationTpl<3,double>
24  ,VectorSpaceOperationTpl<Eigen::Dynamic,double>
25  > LieGroupVariant;
26 
27 }
28 
29 #endif // ifndef __pinocchio_lie_group_variant_hpp__
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24