31#ifndef HPP_PINOCCHIO_FWD_HH
32#define HPP_PINOCCHIO_FWD_HH
34#ifndef PINOCCHIO_WITH_HPP_FCL
35#error "hpp-fcl support in Pinocchio is mandatory."
38#include <coal/collision_data.h>
43#include <hpp/util/pointer.hh>
44#include <pinocchio/multibody/fwd.hpp>
45#include <pinocchio/multibody/joint/fwd.hpp>
46#include <pinocchio/spatial/fwd.hpp>
70template <
typename _Scalar,
int _Options>
71struct JointCollectionTpl;
77typedef ::pinocchio::ModelTpl<value_type, 0, JointCollectionTpl>
Model;
78typedef ::pinocchio::DataTpl<value_type, 0, JointCollectionTpl>
Data;
83typedef ::pinocchio::JointModelTpl<value_type, 0, JointCollectionTpl>
86typedef Eigen::Array<bool, Eigen::Dynamic, 1>
ArrayXb;
88typedef Eigen::Matrix<value_type, Eigen::Dynamic, 1>
vector_t;
95typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic>
matrix_t;
111using coal::CollisionGeometry;
138template <
typename vector_type>
140template <
typename vector_type>
Abstract class representing a Device.
Definition device-sync.hh:41
Definition center-of-mass-computation.hh:52
Definition collision-object.hh:52
Definition device-sync.hh:212
Robot with geometric and dynamic pinocchio.
Definition device.hh:60
Robot frame.
Definition frame.hh:42
Humanoid robot.
Definition humanoid-robot.hh:44
Definition liegroup-element.hh:117
Definition liegroup-element.hh:45
Definition liegroup-space.hh:101
Eigen::Block< JointJacobian_t, 3, Eigen::Dynamic > HalfJointJacobian_t
Definition fwd.hh:103
shared_ptr< Device > DevicePtr_t
Definition fwd.hh:118
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
Definition fwd.hh:112
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
Definition fwd.hh:122
LiegroupElementBase< vector_t > LiegroupElement
Element of a Lie group.
Definition fwd.hh:145
shared_ptr< const GeomData > GeomDataConstPtr_t
Definition fwd.hh:136
shared_ptr< const CollisionObject > CollisionObjectConstPtr_t
Definition fwd.hh:117
Request_t
Definition fwd.hh:66
@ COLLISION
Definition fwd.hh:66
@ DISTANCE
Definition fwd.hh:66
Eigen::Ref< matrix_t > matrixOut_t
Definition fwd.hh:96
shared_ptr< Joint > JointPtr_t
Definition fwd.hh:123
shared_ptr< GeomModel > GeomModelPtr_t
Definition fwd.hh:133
ObjectVector ObjectVector_t
Definition fwd.hh:108
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition fwd.hh:77
coal::CollisionObject FclCollisionObject
Definition fwd.hh:113
::pinocchio::GeometryData GeomData
Definition fwd.hh:80
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition fwd.hh:88
shared_ptr< HumanoidRobot > HumanoidRobotPtr_t
Definition fwd.hh:121
::pinocchio::FrameIndex FrameIndex
Definition fwd.hh:75
Eigen::Ref< vector_t > vectorOut_t
Definition fwd.hh:94
shared_ptr< const Data > DataConstPtr_t
Definition fwd.hh:131
shared_ptr< Configuration_t > ConfigurationPtr_t HPP_PINOCCHIO_DEPRECATED
Definition fwd.hh:92
shared_ptr< const LiegroupSpace > LiegroupSpaceConstPtr_t
Definition fwd.hh:151
shared_ptr< GeomData > GeomDataPtr_t
Definition fwd.hh:135
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition fwd.hh:99
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > matrix_t
Definition fwd.hh:95
LiegroupElementBase< vectorOut_t > LiegroupElementRef
Writable reference to a LiegroupElement.
Definition fwd.hh:147
InOutType
Definition fwd.hh:67
@ OUTER
Definition fwd.hh:67
@ INNER
Definition fwd.hh:67
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition fwd.hh:150
::pinocchio::GeomIndex GeomIndex
Definition fwd.hh:76
JointCollectionTpl< value_type, 0 > JointCollection
Definition fwd.hh:72
matrix_t::Index size_type
Definition fwd.hh:97
shared_ptr< const Model > ModelConstPtr_t
Definition fwd.hh:129
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition fwd.hh:101
::pinocchio::JointModelTpl< value_type, 0, JointCollectionTpl > JointModel
Definition fwd.hh:84
shared_ptr< Body > BodyPtr_t
Definition fwd.hh:109
::pinocchio::SE3 Transform3s
Definition fwd.hh:81
Eigen::Ref< Configuration_t > ConfigurationOut_t
Definition fwd.hh:91
double value_type
Definition fwd.hh:51
vector_t Configuration_t
Definition fwd.hh:89
std::vector< GripperPtr_t > Grippers_t
Definition fwd.hh:126
::pinocchio::DataTpl< value_type, 0, JointCollectionTpl > Data
Definition fwd.hh:78
::pinocchio::JointIndex JointIndex
Definition fwd.hh:74
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition fwd.hh:98
shared_ptr< const Joint > JointConstPtr_t
Definition fwd.hh:124
::pinocchio::GeometryModel GeomModel
Definition fwd.hh:79
shared_ptr< const GeomModel > GeomModelConstPtr_t
Definition fwd.hh:134
JointVector JointVector_t
Definition fwd.hh:106
Eigen::Array< bool, Eigen::Dynamic, 1 > ArrayXb
Definition fwd.hh:86
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition fwd.hh:102
const coal::CollisionObject * FclConstCollisionObjectPtr_t
Definition fwd.hh:115
shared_ptr< const Device > DeviceConstPtr_t
Definition fwd.hh:119
shared_ptr< const Body > BodyConstPtr_t
Definition fwd.hh:110
shared_ptr< Gripper > GripperPtr_t
Definition fwd.hh:125
shared_ptr< Model > ModelPtr_t
Definition fwd.hh:128
Eigen::Ref< const vector_t > vectorIn_t
Definition fwd.hh:93
coal::CollisionObject * FclCollisionObjectPtr_t
Definition fwd.hh:114
LiegroupElementConstBase< vectorIn_t > LiegroupElementConstRef
Const reference to a LiegroupElement.
Definition fwd.hh:143
std::vector< coal::DistanceResult > DistanceResults_t
Definition fwd.hh:120
shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition fwd.hh:116
::pinocchio::SE3 SE3
Definition fwd.hh:82
Eigen::Matrix< value_type, 4, 1 > vector4_t
Definition fwd.hh:100
shared_ptr< Data > DataPtr_t
Definition fwd.hh:130
Eigen::Ref< const Configuration_t > ConfigurationIn_t
Definition fwd.hh:90
Utility functions.
Definition body.hh:39
Definition collision-object.hh:40
Definition device-data.hh:51
Definition joint-collection.hh:54