pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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force.hpp
1//
2// Copyright (c) 2015-2018 CNRS
3// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4//
5
6#ifndef __pinocchio_spatial_force_hpp__
7#define __pinocchio_spatial_force_hpp__
8
9#include "pinocchio/spatial/fwd.hpp"
10#include "pinocchio/spatial/se3.hpp"
11#include "pinocchio/spatial/motion.hpp"
12
13#define FORCE_TYPEDEF_GENERIC(Derived, TYPENAME) \
14 typedef TYPENAME traits<Derived>::Scalar Scalar; \
15 typedef TYPENAME traits<Derived>::Vector3 Vector3; \
16 typedef TYPENAME traits<Derived>::Vector6 Vector6; \
17 typedef TYPENAME traits<Derived>::Matrix6 Matrix6; \
18 typedef TYPENAME traits<Derived>::ToVectorReturnType ToVectorReturnType; \
19 typedef TYPENAME traits<Derived>::ToVectorConstReturnType ToVectorConstReturnType; \
20 typedef TYPENAME traits<Derived>::AngularType AngularType; \
21 typedef TYPENAME traits<Derived>::LinearType LinearType; \
22 typedef TYPENAME traits<Derived>::ConstAngularType ConstAngularType; \
23 typedef TYPENAME traits<Derived>::ConstLinearType ConstLinearType; \
24 typedef TYPENAME traits<Derived>::ForcePlain ForcePlain; \
25 enum \
26 { \
27 LINEAR = traits<Derived>::LINEAR, \
28 ANGULAR = traits<Derived>::ANGULAR \
29 }
30
31#define FORCE_TYPEDEF_TPL(Derived) FORCE_TYPEDEF_GENERIC(Derived, typename)
32
33#define FORCE_TYPEDEF(Derived) FORCE_TYPEDEF_GENERIC(Derived, PINOCCHIO_MACRO_EMPTY_ARG)
34
35#include "pinocchio/spatial/force-base.hpp"
36#include "pinocchio/spatial/force-dense.hpp"
37#include "pinocchio/spatial/force-tpl.hpp"
38#include "pinocchio/spatial/force-ref.hpp"
39
40#endif // ifndef __pinocchio_spatial_force_hpp__