34 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
35 typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6;
36 typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3;
37 typedef Eigen::Matrix<Scalar, 4, 4, Options> Matrix4;
38 typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6;
39 typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
40 typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
41 typedef Matrix6 ActionMatrixType;
42 typedef Matrix4 HomogeneousMatrixType;
43 typedef Vector3 AngularType;
44 typedef const Vector3 ConstAngularType;
45 typedef Vector3 LinearType;
46 typedef const Vector3 ConstLinearType;