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// |
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// Copyright (c) 2022 INRIA |
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// |
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#ifndef __pinocchio_context_generic_hpp__ |
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#define __pinocchio_context_generic_hpp__ |
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#include <Eigen/Core> |
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#include "pinocchio/container/aligned-vector.hpp" |
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namespace pinocchio |
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{ |
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template<typename _Scalar, int _Options> |
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struct JointCollectionDefaultTpl; |
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template< |
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typename _Scalar, |
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int _Options = 0, |
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template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl> |
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struct ModelTpl; |
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template< |
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typename _Scalar, |
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int _Options = 0, |
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template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl> |
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struct DataTpl; |
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template<typename _Scalar, int _Options = 0> |
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class MotionTpl; |
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template<typename _Scalar, int _Options = 0> |
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class ForceTpl; |
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template<typename _Scalar, int _Options> |
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struct RigidConstraintModelTpl; |
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template<typename _Scalar, int _Options> |
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struct RigidConstraintDataTpl; |
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template<typename _Scalar> |
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struct CoulombFrictionConeTpl; |
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template<typename _Scalar> |
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struct DualCoulombFrictionConeTpl; |
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namespace context |
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{ |
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typedef PINOCCHIO_SCALAR_TYPE Scalar; |
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enum |
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{ |
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Options = 0 |
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}; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs; |
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typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6xs; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Options> |
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RowMatrixXs; |
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typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x; |
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typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3; |
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typedef Eigen::Matrix<Scalar, 6, 10, Options> BodyRegressorType; |
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typedef ModelTpl<Scalar, Options> Model; |
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typedef DataTpl<Scalar, Options> Data; |
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typedef CoulombFrictionConeTpl<Scalar> CoulombFrictionCone; |
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typedef DualCoulombFrictionConeTpl<Scalar> DualCoulombFrictionCone; |
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typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel; |
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typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData; |
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typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(CoulombFrictionCone) |
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CoulombFrictionConeVector; |
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typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(DualCoulombFrictionCone) |
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DualCoulombFrictionConeVector; |
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typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) |
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RigidConstraintModelVector; |
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typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData) |
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RigidConstraintDataVector; |
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typedef MotionTpl<Scalar, Options> Motion; |
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typedef ForceTpl<Scalar, Options> Force; |
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} // namespace context |
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// Read and write |
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template<typename Derived> |
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Eigen::Ref<typename Derived::PlainObject> make_ref(const Eigen::MatrixBase<Derived> & x) |
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{ |
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return Eigen::Ref<typename Derived::PlainObject>(x.const_cast_derived()); |
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} |
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// Read-only |
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template<typename M> |
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auto make_const_ref(Eigen::MatrixBase<M> const & m) -> Eigen::Ref<typename M::PlainObject const> |
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{ |
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return m; |
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} |
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} // namespace pinocchio |
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#endif // #ifndef __pinocchio_context_generic_hpp__ |
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