pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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joint-collection.hpp
1//
2// Copyright (c) 2018-2019 CNRS INRIA
3//
4
5#ifndef __pinocchio_multibody_joint_collection_hpp__
6#define __pinocchio_multibody_joint_collection_hpp__
7
8#include "pinocchio/multibody/joint/fwd.hpp"
9#include "pinocchio/multibody/joint/joints.hpp"
10
11#include <boost/variant.hpp>
12#include <boost/variant/recursive_wrapper.hpp>
13
14namespace pinocchio
15{
16
17 template<typename _Scalar, int _Options>
19 {
20 typedef _Scalar Scalar;
21 enum
22 {
23 Options = _Options
24 };
25
26 // Joint Revolute
30
31 // Joint Revolute Unaligned
33
34 // Joint Revolute UBounded
38
39 // Joint Revolute Unbounded Unaligned
42
43 // Joint Prismatic
47
48 // Joint Prismatic Unaligned
50
51 // Joint Spherical
53
54 // Joint Spherical ZYX
56
57 // Joint Translation
59
60 // Joint FreeFlyer
62
63 // Joint Planar
65
66 // Joint Composite
69
70 // Joint Mimic
73
74 // Joint Helical
78
79 // Joint Helical Unaligned
81
82 // Joint Universal
84
85 typedef boost::variant<
86 // JointModelVoid,
109 boost::recursive_wrapper<JointModelComposite>,
110 boost::recursive_wrapper<JointModelMimic>>
111 JointModelVariant;
112
113 // Joint Revolute
117
118 // Joint Revolute Unaligned
120
121 // Joint Revolute Unaligned
124
125 // Joint Revolute UBounded
129
130 // Joint Prismatic
134
135 // Joint Prismatic Unaligned
137
138 // Joint Spherical
140
141 // Joint Spherical ZYX
143
144 // Joint Translation
146
147 // Joint FreeFlyer
149
150 // Joint Planar
152
153 // Joint Composite
156
157 // Joint Mimic
160
161 // Joint Helical
165
166 // Joint Helical Unaligned
168
169 // Joint Universal
171
172 typedef boost::variant<
173 // JointDataVoid
196 boost::recursive_wrapper<JointDataComposite>,
197 boost::recursive_wrapper<JointDataMimic>>
198 JointDataVariant;
199 };
200
201 typedef JointCollectionDefault::JointModelVariant JointModelVariant;
202 typedef JointCollectionDefault::JointDataVariant JointDataVariant;
203
204} // namespace pinocchio
205
206#endif // ifndef __pinocchio_multibody_joint_collection_hpp__
Main pinocchio namespace.
Definition treeview.dox:11