generic.hpp

//
// Copyright (c) 2021-2024 INRIA
//
 
#ifndef __pinocchio_python_context_generic_hpp__
#define __pinocchio_python_context_generic_hpp__
 
#include "pinocchio/fwd.hpp"
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/algorithm/fwd.hpp"
#include "pinocchio/algorithm/constraints/fwd.hpp"
 
#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP
  #include "pinocchio/multibody/pool/fwd.hpp"
  #ifdef PINOCCHIO_WITH_HPP_FCL
    #include "pinocchio/collision/pool/fwd.hpp"
  #endif
#endif
 
#include <eigenpy/eigen-typedef.hpp>
 
#include <Eigen/Sparse>
 
namespace pinocchio
{
  namespace python
  {
 
    // Forward declaration
    boost::python::object getScalarType();
    void exposeSpecificTypeFeatures();
 
    namespace context
    {
 
      typedef PINOCCHIO_PYTHON_SCALAR_TYPE Scalar;
      enum
      {
        Options = 0
      };
 
      // Eigen
      EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Scalar, Options, s);
      typedef Eigen::SparseMatrix<Scalar> SparseMatrix;
      typedef Eigen::SparseMatrix<Scalar, Eigen::RowMajor> RowSparseMatrix;
      typedef Eigen::Matrix<Scalar, 1, 1, Options, 1, 1> Matrix1s;
      typedef Eigen::Matrix<Scalar, 7, 1, Options> Vector7s;
      typedef Eigen::Quaternion<Scalar, Options> Quaternion;
      typedef Eigen::AngleAxis<Scalar> AngleAxis;
 
      // Spatial
      typedef SE3Tpl<Scalar, Options> SE3;
      typedef MotionTpl<Scalar, Options> Motion;
      typedef ForceTpl<Scalar, Options> Force;
      typedef InertiaTpl<Scalar, Options> Inertia;
      typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia;
      typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters;
      typedef Symmetric3Tpl<Scalar, Options> Symmetric3;
 
      // Multibody
      typedef FrameTpl<Scalar, Options> Frame;
      typedef ModelTpl<Scalar, Options> Model;
      typedef DataTpl<Scalar, Options> Data;
 
      typedef JointCollectionDefaultTpl<Scalar, Options> JointCollectionDefault;
 
      // Joints
      typedef JointModelTpl<Scalar, Options> JointModel;
      typedef JointDataTpl<Scalar, Options> JointData;
 
      typedef JointDataRevoluteTpl<Scalar, Options, 0> JointDataRX;
      typedef JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;
 
      typedef JointDataRevoluteTpl<Scalar, Options, 1> JointDataRY;
      typedef JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY;
 
      typedef JointDataRevoluteTpl<Scalar, Options, 2> JointDataRZ;
      typedef JointModelRevoluteTpl<Scalar, Options, 2> JointModelRZ;
 
      typedef JointModelRevoluteUnalignedTpl<Scalar> JointModelRevoluteUnaligned;
      typedef JointDataRevoluteUnalignedTpl<Scalar> JointDataRevoluteUnaligned;
 
      typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 0> JointDataRUBX;
      typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 0> JointModelRUBX;
 
      typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 1> JointDataRUBY;
      typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 1> JointModelRUBY;
 
      typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 2> JointDataRUBZ;
      typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 2> JointModelRUBZ;
 
      typedef JointModelRevoluteUnboundedUnalignedTpl<Scalar> JointModelRevoluteUnboundedUnaligned;
      typedef JointDataRevoluteUnboundedUnalignedTpl<Scalar> JointDataRevoluteUnboundedUnaligned;
 
      typedef JointModelSphericalTpl<Scalar> JointModelSpherical;
      typedef JointDataSphericalTpl<Scalar> JointDataSpherical;
 
      typedef JointModelSphericalZYXTpl<Scalar> JointModelSphericalZYX;
      typedef JointDataSphericalZYXTpl<Scalar> JointDataSphericalZYX;
 
      typedef JointDataPrismaticTpl<Scalar, Options, 0> JointDataPX;
      typedef JointModelPrismaticTpl<Scalar, Options, 0> JointModelPX;
 
      typedef JointDataPrismaticTpl<Scalar, Options, 1> JointDataPY;
      typedef JointModelPrismaticTpl<Scalar, Options, 1> JointModelPY;
 
      typedef JointDataPrismaticTpl<Scalar, Options, 2> JointDataPZ;
      typedef JointModelPrismaticTpl<Scalar, Options, 2> JointModelPZ;
 
      typedef JointModelPrismaticUnalignedTpl<Scalar> JointModelPrismaticUnaligned;
      typedef JointDataPrismaticUnalignedTpl<Scalar> JointDataPrismaticUnaligned;
 
      typedef JointDataHelicalTpl<Scalar, Options, 0> JointDataHX;
      typedef JointModelHelicalTpl<Scalar, Options, 0> JointModelHX;
 
      typedef JointDataHelicalTpl<Scalar, Options, 1> JointDataHY;
      typedef JointModelHelicalTpl<Scalar, Options, 1> JointModelHY;
 
      typedef JointDataHelicalTpl<Scalar, Options, 2> JointDataHZ;
      typedef JointModelHelicalTpl<Scalar, Options, 2> JointModelHZ;
 
      typedef JointModelHelicalUnalignedTpl<Scalar> JointModelHelicalUnaligned;
      typedef JointDataHelicalUnalignedTpl<Scalar> JointDataHelicalUnaligned;
 
      typedef JointModelFreeFlyerTpl<Scalar> JointModelFreeFlyer;
      typedef JointDataFreeFlyerTpl<Scalar> JointDataFreeFlyer;
 
      typedef JointModelPlanarTpl<Scalar> JointModelPlanar;
      typedef JointDataPlanarTpl<Scalar> JointDataPlanar;
 
      typedef JointModelUniversalTpl<Scalar> JointModelUniversal;
      typedef JointDataUniversalTpl<Scalar> JointDataUniversal;
 
      typedef JointModelTranslationTpl<Scalar> JointModelTranslation;
      typedef JointDataTranslationTpl<Scalar> JointDataTranslation;
 
      typedef JointModelCompositeTpl<Scalar> JointModelComposite;
      typedef JointDataCompositeTpl<Scalar> JointDataComposite;
 
      typedef JointModelMimicTpl<Scalar> JointModelMimic;
      typedef JointDataMimicTpl<Scalar> JointDataMimic;
 
      // Algorithm
      typedef ProximalSettingsTpl<Scalar> ProximalSettings;
      typedef ContactCholeskyDecompositionTpl<Scalar, Options> ContactCholeskyDecomposition;
 
      typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel;
      typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData;
 
      typedef CoulombFrictionConeTpl<context::Scalar> CoulombFrictionCone;
      typedef DualCoulombFrictionConeTpl<context::Scalar> DualCoulombFrictionCone;
 
      typedef DelassusOperatorDenseTpl<Scalar, Options> DelassusOperatorDense;
      typedef DelassusOperatorSparseTpl<Scalar, Options> DelassusOperatorSparse;
 
      typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(CoulombFrictionCone)
        CoulombFrictionConeVector;
      typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(DualCoulombFrictionCone)
        DualCoulombFrictionConeVector;
      typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel)
        RigidConstraintModelVector;
      typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData)
        RigidConstraintDataVector;
 
// Pool
#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP
      typedef ModelPoolTpl<Scalar> ModelPool;
 
  #ifdef PINOCCHIO_WITH_HPP_FCL
      typedef GeometryPoolTpl<Scalar> GeometryPool;
  #endif
 
#endif
 
    } // namespace context
  } // namespace python
} // namespace pinocchio
 
#endif // #ifndef __pinocchio_python_context_generic_hpp__