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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/pinocchio/multibody/joint/joint-generic.hpp	Lines:	78	79	98.7 %
Date:	2024-04-26 13:14:21	Branches:	9	14	64.3 %


//
// Copyright (c) 2016-2021 CNRS INRIA
//

#ifndef __pinocchio_joint_generic_hpp__
#define __pinocchio_joint_generic_hpp__

#include "pinocchio/multibody/joint/joint-collection.hpp"
#include "pinocchio/multibody/joint/joint-composite.hpp"
#include "pinocchio/multibody/joint/joint-basic-visitors.hxx"
#include "pinocchio/container/aligned-vector.hpp"

#include <boost/mpl/contains.hpp>

namespace pinocchio
{

  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
  struct JointTpl;
  typedef JointTpl<double> Joint;

  template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl>
  struct traits< JointTpl<_Scalar,_Options,JointCollectionTpl> >
  {
    enum {
      Options = _Options,
      NQ = Eigen::Dynamic, // Dynamic because unknown at compile time
      NV = Eigen::Dynamic
    };

    typedef _Scalar Scalar;
    typedef JointCollectionTpl<Scalar,Options> JointCollection;
    typedef JointDataTpl<Scalar,Options,JointCollectionTpl> JointDataDerived;
    typedef JointModelTpl<Scalar,Options,JointCollectionTpl> JointModelDerived;

    typedef ConstraintTpl<Eigen::Dynamic,Scalar,Options> Constraint_t;
    typedef SE3Tpl<Scalar,Options> Transformation_t;
    typedef MotionTpl<Scalar,Options>  Motion_t;
    typedef MotionTpl<Scalar,Options>  Bias_t;

    // [ABA]
    typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> U_t;
    typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> D_t;
    typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> UD_t;

    typedef Constraint_t ConstraintTypeConstRef;
    typedef Constraint_t ConstraintTypeRef;
    typedef Transformation_t TansformTypeConstRef;
    typedef Transformation_t TansformTypeRef;
    typedef Motion_t MotionTypeConstRef;
    typedef Motion_t MotionTypeRef;
    typedef Bias_t BiasTypeConstRef;
    typedef Bias_t BiasTypeRef;
    typedef U_t UTypeConstRef;
    typedef U_t UTypeRef;
    typedef D_t DTypeConstRef;
    typedef D_t DTypeRef;
    typedef UD_t UDTypeConstRef;
    typedef UD_t UDTypeRef;

    typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> ConfigVector_t;
    typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> TangentVector_t;
  };

  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
  struct traits< JointDataTpl<Scalar,Options,JointCollectionTpl> >
  { typedef JointTpl<Scalar,Options,JointCollectionTpl> JointDerived; };

  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
  struct traits< JointModelTpl<Scalar,Options,JointCollectionTpl> >
  { typedef JointTpl<Scalar,Options,JointCollectionTpl> JointDerived; };

  template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl>
  struct JointDataTpl
  : public JointDataBase< JointDataTpl<_Scalar,_Options,JointCollectionTpl> >
  , JointCollectionTpl<_Scalar,_Options>::JointDataVariant
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef JointTpl<_Scalar,_Options,JointCollectionTpl> JointDerived;
    typedef JointDataBase<JointDataTpl> Base;

    PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);

    typedef JointCollectionTpl<_Scalar,_Options> JointCollection;
    typedef typename JointCollection::JointDataVariant JointDataVariant;

    using Base::operator==;
    using Base::operator!=;

    JointDataVariant & toVariant() { return *static_cast<JointDataVariant*>(this); }
    const JointDataVariant & toVariant() const { return *static_cast<const JointDataVariant*>(this); }

    Constraint_t      S() const  { return constraint_xd(*this); }
    Transformation_t  M() const  { return joint_transform(*this); }
    Motion_t          v() const  { return motion(*this); }
    Bias_t            c() const  { return bias(*this); }

    // [ABA CCRBA]
    U_t               U()     const { return u_inertia(*this); }
    D_t               Dinv()  const { return dinv_inertia(*this); }
    UD_t              UDinv() const { return udinv_inertia(*this); }

    JointDataTpl()
    : JointDataVariant()
    {}

    JointDataTpl(const JointDataVariant & jdata_variant)
    : JointDataVariant(jdata_variant)
    {}

    template<typename JointDataDerived>
    JointDataTpl(const JointDataBase<JointDataDerived> & jdata)
    : JointCollection::JointDataVariant((JointDataVariant)jdata.derived())
    {
      BOOST_MPL_ASSERT((boost::mpl::contains<typename JointDataVariant::types,JointDataDerived>));
    }

    // Define all the standard accessors
    Constraint_t S_accessor() const { return S(); }
    Transformation_t M_accessor() const { return M(); }
    Motion_t v_accessor() const { return v(); }
    Bias_t c_accessor() const { return c(); }
    U_t U_accessor() const { return U(); }
    D_t Dinv_accessor() const { return Dinv(); }
    UD_t UDinv_accessor() const { return UDinv(); }

    static std::string classname() { return "JointData"; }
    std::string shortname() const { return ::pinocchio::shortname(*this); }

    template<typename JointDataDerived>
    bool isEqual(const JointDataBase<JointDataDerived> & other) const
    {
      return ::pinocchio::isEqual(*this,other.derived());
    }

    bool isEqual(const JointDataTpl & other) const
    {
      return Base::isEqual(other) && toVariant() == other.toVariant();
    }

    bool operator==(const JointDataTpl & other) const
    {
      return isEqual(other);
    }

    bool operator!=(const JointDataTpl & other) const
    {
      return !(*this == other);
    }

  };

  template<typename NewScalar, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
  struct CastType< NewScalar, JointModelTpl<Scalar,Options,JointCollectionTpl> >
  {
    typedef JointModelTpl<NewScalar,Options,JointCollectionTpl> type;
  };

  template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl>
  struct JointModelTpl
  : JointModelBase< JointModelTpl<_Scalar,_Options,JointCollectionTpl> >
  , JointCollectionTpl<_Scalar,_Options>::JointModelVariant
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef JointTpl<_Scalar,_Options,JointCollectionTpl> JointDerived;

    PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
    PINOCCHIO_JOINT_USE_INDEXES(JointModelTpl);

    typedef JointCollectionTpl<Scalar,Options> JointCollection;
    typedef typename JointCollection::JointDataVariant JointDataVariant;
    typedef typename JointCollection::JointModelVariant JointModelVariant;

    using Base::id;
    using Base::setIndexes;
    using Base::operator==;
    using Base::operator!=;

    JointModelTpl() : JointModelVariant() {}

    JointModelTpl(const JointModelVariant & jmodel_variant)
    : JointCollection::JointModelVariant(jmodel_variant)
    {
    }

    const std::vector<bool> hasConfigurationLimit() const
    {
      return ::pinocchio::hasConfigurationLimit(*this);
    }

    const std::vector<bool> hasConfigurationLimitInTangent() const
    {
      return ::pinocchio::hasConfigurationLimitInTangent(*this);
    }

    template<typename JointModelDerived>
    JointModelTpl(const JointModelBase<JointModelDerived> & jmodel)
    : JointModelVariant((JointModelVariant)jmodel.derived())
    {
      BOOST_MPL_ASSERT((boost::mpl::contains<typename JointModelVariant::types,JointModelDerived>));
    }

    JointModelVariant & toVariant()
    { return *static_cast<JointModelVariant*>(this); }

    const JointModelVariant & toVariant() const
    { return *static_cast<const JointModelVariant*>(this); }

    JointDataDerived createData() const
    { return ::pinocchio::createData<Scalar,Options,JointCollectionTpl>(*this); }

    template<typename JointModelDerived>
    bool isEqual(const JointModelBase<JointModelDerived> & other) const
    {
      return ::pinocchio::isEqual(*this,other.derived());;
    }

    template<typename JointModelDerived>
    bool hasSameIndexes(const JointModelBase<JointModelDerived> & other) const
    {
      return ::pinocchio::hasSameIndexes(*this,other.derived());
    }

    bool isEqual(const JointModelTpl & other) const
    {
      return Base::isEqual(other) && toVariant() == other.toVariant();
    }

    bool operator==(const JointModelTpl & other) const
    {
      return isEqual(other);
    }

    bool operator!=(const JointModelTpl & other) const
    {
      return !(*this == other);
    }

    template<typename ConfigVector>
    void calc(JointDataDerived & data,
              const Eigen::MatrixBase<ConfigVector> & q) const
    { calc_zero_order(*this,data,q); }

    template<typename ConfigVector, typename TangentVector>
    void calc(JointDataDerived & data,
              const Eigen::MatrixBase<ConfigVector> & q,
              const Eigen::MatrixBase<TangentVector> & v) const
    { calc_first_order(*this,data,q,v); }

    template<typename Matrix6Like>
    void calc_aba(JointDataDerived & data, const Eigen::MatrixBase<Matrix6Like> & I, const bool update_I) const
    { ::pinocchio::calc_aba(*this,data,PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,I),update_I); }

    std::string shortname() const { return ::pinocchio::shortname(*this); }
    static std::string classname() { return "JointModel"; }

    int     nq_impl() const { return ::pinocchio::nq(*this); }
    int     nv_impl() const { return ::pinocchio::nv(*this); }

    int     idx_q_impl()   const { return ::pinocchio::idx_q(*this); }
    int     idx_v_impl()   const { return ::pinocchio::idx_v(*this); }

    JointIndex     id_impl()      const { return ::pinocchio::id(*this); }

    void setIndexes(JointIndex id, int nq, int nv)
    {
      ::pinocchio::setIndexes(*this, id, nq, nv);
    }

    /// \returns An expression of *this with the Scalar type casted to NewScalar.
    template<typename NewScalar>
    JointModelTpl<NewScalar,Options,JointCollectionTpl> cast() const
    {
      return cast_joint<NewScalar,Scalar,Options,JointCollectionTpl>(*this);
    }
  };

  typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
  typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;


  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointDataDerived>
  bool operator==(const JointDataBase<JointDataDerived> & joint_data,
                  const JointDataTpl<Scalar,Options,JointCollectionTpl> & joint_data_generic)
  {
    return joint_data_generic == joint_data.derived();
  }


  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointDataDerived>
  bool operator!=(const JointDataBase<JointDataDerived> & joint_data,
                  const JointDataTpl<Scalar,Options,JointCollectionTpl> & joint_data_generic)
  {
    return joint_data_generic != joint_data.derived();
  }

  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointModelDerived>
  bool operator==(const JointModelBase<JointModelDerived> & joint_model,
                  const JointModelTpl<Scalar,Options,JointCollectionTpl> & joint_model_generic)
  {
    return joint_model_generic == joint_model.derived();
  }

  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointModelDerived>
  bool operator!=(const JointModelBase<JointModelDerived> & joint_model,
                  const JointModelTpl<Scalar,Options,JointCollectionTpl> & joint_model_generic)
  {
    return joint_model_generic != joint_model.derived();
  }

} // namespace pinocchio

#endif // ifndef __pinocchio_joint_generic_hpp__


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2016-2021 CNRS INRIA
3			//
4
5			#ifndef __pinocchio_joint_generic_hpp__
6			#define __pinocchio_joint_generic_hpp__
7
8			#include "pinocchio/multibody/joint/joint-collection.hpp"
9			#include "pinocchio/multibody/joint/joint-composite.hpp"
10			#include "pinocchio/multibody/joint/joint-basic-visitors.hxx"
11			#include "pinocchio/container/aligned-vector.hpp"
12
13			#include <boost/mpl/contains.hpp>
14
15			namespace pinocchio
16			{
17
18			template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
19			struct JointTpl;
20			typedef JointTpl<double> Joint;
21
22			template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl>
23			struct traits< JointTpl<_Scalar,_Options,JointCollectionTpl> >
24			{
25			enum {
26			Options = _Options,
27			NQ = Eigen::Dynamic, // Dynamic because unknown at compile time
28			NV = Eigen::Dynamic
29			};
30
31			typedef _Scalar Scalar;
32			typedef JointCollectionTpl<Scalar,Options> JointCollection;
33			typedef JointDataTpl<Scalar,Options,JointCollectionTpl> JointDataDerived;
34			typedef JointModelTpl<Scalar,Options,JointCollectionTpl> JointModelDerived;
35
36			typedef ConstraintTpl<Eigen::Dynamic,Scalar,Options> Constraint_t;
37			typedef SE3Tpl<Scalar,Options> Transformation_t;
38			typedef MotionTpl<Scalar,Options> Motion_t;
39			typedef MotionTpl<Scalar,Options> Bias_t;
40
41			// [ABA]
42			typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> U_t;
43			typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> D_t;
44			typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> UD_t;
45
46			typedef Constraint_t ConstraintTypeConstRef;
47			typedef Constraint_t ConstraintTypeRef;
48			typedef Transformation_t TansformTypeConstRef;
49			typedef Transformation_t TansformTypeRef;
50			typedef Motion_t MotionTypeConstRef;
51			typedef Motion_t MotionTypeRef;
52			typedef Bias_t BiasTypeConstRef;
53			typedef Bias_t BiasTypeRef;
54			typedef U_t UTypeConstRef;
55			typedef U_t UTypeRef;
56			typedef D_t DTypeConstRef;
57			typedef D_t DTypeRef;
58			typedef UD_t UDTypeConstRef;
59			typedef UD_t UDTypeRef;
60
61			typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> ConfigVector_t;
62			typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> TangentVector_t;
63			};
64
65			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
66			struct traits< JointDataTpl<Scalar,Options,JointCollectionTpl> >
67			{ typedef JointTpl<Scalar,Options,JointCollectionTpl> JointDerived; };
68
69			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
70			struct traits< JointModelTpl<Scalar,Options,JointCollectionTpl> >
71			{ typedef JointTpl<Scalar,Options,JointCollectionTpl> JointDerived; };
72
73			template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl>
74			struct JointDataTpl
75			: public JointDataBase< JointDataTpl<_Scalar,_Options,JointCollectionTpl> >
76			, JointCollectionTpl<_Scalar,_Options>::JointDataVariant
77			{
78			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
79
80			typedef JointTpl<_Scalar,_Options,JointCollectionTpl> JointDerived;
81			typedef JointDataBase<JointDataTpl> Base;
82
83			PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
84
85			typedef JointCollectionTpl<_Scalar,_Options> JointCollection;
86			typedef typename JointCollection::JointDataVariant JointDataVariant;
87
88			using Base::operator==;
89			using Base::operator!=;
90
91			JointDataVariant & toVariant() { return static_cast<JointDataVariant>(this); }
92		596	const JointDataVariant & toVariant() const { return static_cast<const JointDataVariant>(this); }
93
94		776	Constraint_t S() const { return constraint_xd(*this); }
95		795	Transformation_t M() const { return joint_transform(*this); }
96		616	Motion_t v() const { return motion(*this); }
97		616	Bias_t c() const { return bias(*this); }
98
99			// [ABA CCRBA]
100		616	U_t U() const { return u_inertia(*this); }
101		616	D_t Dinv() const { return dinv_inertia(*this); }
102		616	UD_t UDinv() const { return udinv_inertia(*this); }
103
104		285	JointDataTpl()
105		285	: JointDataVariant()
106		285	{}
107
108			JointDataTpl(const JointDataVariant & jdata_variant)
109			: JointDataVariant(jdata_variant)
110			{}
111
112			template<typename JointDataDerived>
113		20160	JointDataTpl(const JointDataBase<JointDataDerived> & jdata)
114		20160	: JointCollection::JointDataVariant((JointDataVariant)jdata.derived())
115			{
116			BOOST_MPL_ASSERT((boost::mpl::contains<typename JointDataVariant::types,JointDataDerived>));
117		20160	}
118
119			// Define all the standard accessors
120		756	Constraint_t S_accessor() const { return S(); }
121		748	Transformation_t M_accessor() const { return M(); }
122		596	Motion_t v_accessor() const { return v(); }
123		596	Bias_t c_accessor() const { return c(); }
124		596	U_t U_accessor() const { return U(); }
125		596	D_t Dinv_accessor() const { return Dinv(); }
126		596	UD_t UDinv_accessor() const { return UDinv(); }
127
128	✓✗	1	static std::string classname() { return "JointData"; }
129		20	std::string shortname() const { return ::pinocchio::shortname(*this); }
130
131			template<typename JointDataDerived>
132		80	bool isEqual(const JointDataBase<JointDataDerived> & other) const
133			{
134		80	return ::pinocchio::isEqual(*this,other.derived());
135			}
136
137		378	bool isEqual(const JointDataTpl & other) const
138			{
139	✓✓✓✗	378	return Base::isEqual(other) && toVariant() == other.toVariant();
140			}
141
142		378	bool operator==(const JointDataTpl & other) const
143			{
144		378	return isEqual(other);
145			}
146
147		80	bool operator!=(const JointDataTpl & other) const
148			{
149		80	return !(*this == other);
150			}
151
152			};
153
154			template<typename NewScalar, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
155			struct CastType< NewScalar, JointModelTpl<Scalar,Options,JointCollectionTpl> >
156			{
157			typedef JointModelTpl<NewScalar,Options,JointCollectionTpl> type;
158			};
159
160			template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl>
161			struct JointModelTpl
162			: JointModelBase< JointModelTpl<_Scalar,_Options,JointCollectionTpl> >
163			, JointCollectionTpl<_Scalar,_Options>::JointModelVariant
164			{
165		16	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
166
167			typedef JointTpl<_Scalar,_Options,JointCollectionTpl> JointDerived;
168
169			PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
170			PINOCCHIO_JOINT_USE_INDEXES(JointModelTpl);
171
172			typedef JointCollectionTpl<Scalar,Options> JointCollection;
173			typedef typename JointCollection::JointDataVariant JointDataVariant;
174			typedef typename JointCollection::JointModelVariant JointModelVariant;
175
176			using Base::id;
177			using Base::setIndexes;
178			using Base::operator==;
179			using Base::operator!=;
180
181		1124	JointModelTpl() : JointModelVariant() {}
182
183			JointModelTpl(const JointModelVariant & jmodel_variant)
184			: JointCollection::JointModelVariant(jmodel_variant)
185			{
186			}
187
188		3	const std::vector<bool> hasConfigurationLimit() const
189			{
190		3	return ::pinocchio::hasConfigurationLimit(*this);
191			}
192
193		3	const std::vector<bool> hasConfigurationLimitInTangent() const
194			{
195		3	return ::pinocchio::hasConfigurationLimitInTangent(*this);
196			}
197
198			template<typename JointModelDerived>
199		16653	JointModelTpl(const JointModelBase<JointModelDerived> & jmodel)
200		16653	: JointModelVariant((JointModelVariant)jmodel.derived())
201			{
202			BOOST_MPL_ASSERT((boost::mpl::contains<typename JointModelVariant::types,JointModelDerived>));
203		16653	}
204
205			JointModelVariant & toVariant()
206			{ return static_cast<JointModelVariant>(this); }
207
208		4928	const JointModelVariant & toVariant() const
209		4928	{ return static_cast<const JointModelVariant>(this); }
210
211		28	JointDataDerived createData() const
212		28	{ return ::pinocchio::createData<Scalar,Options,JointCollectionTpl>(*this); }
213
214			template<typename JointModelDerived>
215		88	bool isEqual(const JointModelBase<JointModelDerived> & other) const
216			{
217		88	return ::pinocchio::isEqual(*this,other.derived());;
218			}
219
220			template<typename JointModelDerived>
221		2512	bool hasSameIndexes(const JointModelBase<JointModelDerived> & other) const
222			{
223		2512	return ::pinocchio::hasSameIndexes(*this,other.derived());
224			}
225
226		2467	bool isEqual(const JointModelTpl & other) const
227			{
228	✓✓✓✗	2467	return Base::isEqual(other) && toVariant() == other.toVariant();
229			}
230
231		2463	bool operator==(const JointModelTpl & other) const
232			{
233		2463	return isEqual(other);
234			}
235
236		2	bool operator!=(const JointModelTpl & other) const
237			{
238		2	return !(*this == other);
239			}
240
241			template<typename ConfigVector>
242		27	void calc(JointDataDerived & data,
243			const Eigen::MatrixBase<ConfigVector> & q) const
244		27	{ calc_zero_order(*this,data,q); }
245
246			template<typename ConfigVector, typename TangentVector>
247		40	void calc(JointDataDerived & data,
248			const Eigen::MatrixBase<ConfigVector> & q,
249			const Eigen::MatrixBase<TangentVector> & v) const
250		40	{ calc_first_order(*this,data,q,v); }
251
252			template<typename Matrix6Like>
253		40	void calc_aba(JointDataDerived & data, const Eigen::MatrixBase<Matrix6Like> & I, const bool update_I) const
254		40	{ ::pinocchio::calc_aba(*this,data,PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,I),update_I); }
255
256		37	std::string shortname() const { return ::pinocchio::shortname(*this); }
257	✓✗	1	static std::string classname() { return "JointModel"; }
258
259		952899	int nq_impl() const { return ::pinocchio::nq(*this); }
260		6437315	int nv_impl() const { return ::pinocchio::nv(*this); }
261
262		935159	int idx_q_impl() const { return ::pinocchio::idx_q(*this); }
263		2708218	int idx_v_impl() const { return ::pinocchio::idx_v(*this); }
264
265		2820	JointIndex id_impl() const { return ::pinocchio::id(*this); }
266
267		8351	void setIndexes(JointIndex id, int nq, int nv)
268			{
269		8351	::pinocchio::setIndexes(*this, id, nq, nv);
270		8351	}
271
272			/// \returns An expression of *this with the Scalar type casted to NewScalar.
273			template<typename NewScalar>
274		170	JointModelTpl<NewScalar,Options,JointCollectionTpl> cast() const
275			{
276		170	return cast_joint<NewScalar,Scalar,Options,JointCollectionTpl>(*this);
277			}
278			};
279
280			typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
281			typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;
282
283
284			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointDataDerived>
285		40	bool operator==(const JointDataBase<JointDataDerived> & joint_data,
286			const JointDataTpl<Scalar,Options,JointCollectionTpl> & joint_data_generic)
287			{
288		40	return joint_data_generic == joint_data.derived();
289			}
290
291
292			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointDataDerived>
293		40	bool operator!=(const JointDataBase<JointDataDerived> & joint_data,
294			const JointDataTpl<Scalar,Options,JointCollectionTpl> & joint_data_generic)
295			{
296	✓✗	40	return joint_data_generic != joint_data.derived();
297			}
298
299			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointModelDerived>
300		22	bool operator==(const JointModelBase<JointModelDerived> & joint_model,
301			const JointModelTpl<Scalar,Options,JointCollectionTpl> & joint_model_generic)
302			{
303		22	return joint_model_generic == joint_model.derived();
304			}
305
306			template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename JointModelDerived>
307			bool operator!=(const JointModelBase<JointModelDerived> & joint_model,
308			const JointModelTpl<Scalar,Options,JointCollectionTpl> & joint_model_generic)
309			{
310			return joint_model_generic != joint_model.derived();
311			}
312
313			} // namespace pinocchio
314
315			#endif // ifndef __pinocchio_joint_generic_hpp__