pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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se3.hpp
1//
2// Copyright (c) 2015-2020 CNRS
3//
4
5#ifndef __pinocchio_spatial_se3_hpp__
6#define __pinocchio_spatial_se3_hpp__
7
8#include "pinocchio/spatial/fwd.hpp"
9#include "pinocchio/macros.hpp"
10
11#define PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived, TYPENAME) \
12 typedef TYPENAME traits<Derived>::Scalar Scalar; \
13 typedef TYPENAME traits<Derived>::AngularType AngularType; \
14 typedef TYPENAME traits<Derived>::LinearType LinearType; \
15 typedef TYPENAME traits<Derived>::AngularRef AngularRef; \
16 typedef TYPENAME traits<Derived>::LinearRef LinearRef; \
17 typedef TYPENAME traits<Derived>::ConstAngularRef ConstAngularRef; \
18 typedef TYPENAME traits<Derived>::ConstLinearRef ConstLinearRef; \
19 typedef TYPENAME traits<Derived>::ActionMatrixType ActionMatrixType; \
20 typedef TYPENAME traits<Derived>::HomogeneousMatrixType HomogeneousMatrixType; \
21 typedef TYPENAME traits<Derived>::PlainType PlainType; \
22 enum \
23 { \
24 Options = traits<Derived>::Options, \
25 LINEAR = traits<Derived>::LINEAR, \
26 ANGULAR = traits<Derived>::ANGULAR \
27 }
28
29#define PINOCCHIO_SE3_TYPEDEF_TPL(Derived) PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived, typename)
30
31#define PINOCCHIO_SE3_TYPEDEF(Derived) \
32 PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived, PINOCCHIO_MACRO_EMPTY_ARG)
33
34namespace pinocchio
35{
36
37 /* Type returned by the "se3Action" and "se3ActionInverse" functions. */
38 template<typename D>
40 {
41 typedef D ReturnType;
42 };
43
44} // namespace pinocchio
45
46#include "pinocchio/spatial/se3-base.hpp"
47#include "pinocchio/spatial/se3-tpl.hpp"
48
49#endif // ifndef __pinocchio_spatial_se3_hpp__
Main pinocchio namespace.
Definition treeview.dox:11