pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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fwd.hpp
1//
2// Copyright (c) 2017-2020 CNRS INRIA
3//
4
5#ifndef __pinocchio_multibody_fwd_hpp__
6#define __pinocchio_multibody_fwd_hpp__
7
8#include "pinocchio/fwd.hpp"
9
10#include "pinocchio/multibody/joint/fwd.hpp"
11
12namespace pinocchio
13{
14
15 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
16 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
21 template<typename Scalar, int Options = context::Options>
22 struct FrameTpl;
23 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
24
25 typedef std::size_t Index;
26 typedef Index JointIndex;
27 typedef Index GeomIndex;
28 typedef Index FrameIndex;
29 typedef Index PairIndex;
30
31 typedef FrameTpl<context::Scalar, context::Options> Frame;
32
33 typedef ModelTpl<context::Scalar, context::Options> Model;
34 typedef DataTpl<context::Scalar, context::Options> Data;
35
36 struct GeometryModel;
37 struct GeometryData;
38
47 {
48 WORLD = 0,
50 LOCAL = 1,
54 };
55
60 {
61 POSITION = 0,
63 VELOCITY = 1,
65 ACCELERATION = 2
67 };
68
73 enum struct Convention
74 {
77 WORLD = 0,
80 LOCAL = 1,
81 };
82
86 // end of group multibody
87
88 // Forward declaration needed for Model::check
89 template<class D>
90 struct AlgorithmCheckerBase;
91
92} // namespace pinocchio
93
94#endif // #ifndef __pinocchio_multibody_fwd_hpp__
KinematicLevel
List of Kinematics Level supported by Pinocchio.
Definition fwd.hpp:60
Convention
List of convention to call algorithms.
Definition fwd.hpp:74
ReferenceFrame
Various conventions to express the velocity of a moving frame.
Definition fwd.hpp:47
@ VELOCITY
Definition fwd.hpp:63
@ ACCELERATION
Definition fwd.hpp:65
@ POSITION
Definition fwd.hpp:61
@ WORLD
Definition fwd.hpp:48
@ LOCAL_WORLD_ALIGNED
Definition fwd.hpp:52
@ LOCAL
Definition fwd.hpp:50
Main pinocchio namespace.
Definition treeview.dox:11