pinocchio
3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
fwd.hpp
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//
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// Copyright (c) 2022-2023 INRIA
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//
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#ifndef __pinocchio_algorithm_constraints_fwd_hpp__
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#define __pinocchio_algorithm_constraints_fwd_hpp__
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#include "pinocchio/algorithm/fwd.hpp"
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#include <boost/variant.hpp>
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namespace
pinocchio
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{
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template
<
typename
Scalar,
int
Options = 0>
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struct
RigidConstraintModelTpl
;
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template
<
typename
Scalar,
int
Options = 0>
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struct
RigidConstraintDataTpl
;
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template
<
typename
_Scalar,
int
_Options>
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struct
ConstraintCollectionTpl
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{
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typedef
_Scalar Scalar;
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enum
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{
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Options = _Options
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};
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typedef
RigidConstraintModelTpl<Scalar, Options>
RigidConstraintModel
;
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typedef
RigidConstraintDataTpl<Scalar, Options>
RigidConstraintData
;
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typedef
boost::variant<RigidConstraintModel> ConstraintModelVariant;
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typedef
boost::variant<RigidConstraintData> ConstraintDataVariant;
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};
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typedef
ConstraintCollectionTpl<context::Scalar, context::Options>
ConstraintCollection
;
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template
<
typename
Scalar,
int
_Options,
template
<
typename
S,
int
O>
class
ConstraintCollectionTpl
>
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struct
ConstraintModelTpl
;
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typedef
ConstraintModelTpl<context::Scalar, context::Options, ConstraintCollectionTpl>
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ConstraintModel
;
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template
<
typename
Scalar,
int
_Options,
template
<
typename
S,
int
O>
class
ConstraintCollectionTpl
>
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struct
ConstraintDataTpl
;
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typedef
ConstraintDataTpl<context::Scalar, context::Options, ConstraintCollectionTpl>
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ConstraintData
;
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template
<
typename
Scalar>
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struct
CoulombFrictionConeTpl
;
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typedef
CoulombFrictionConeTpl<context::Scalar>
CoulombFrictionCone
;
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template
<
typename
Scalar>
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struct
DualCoulombFrictionConeTpl
;
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typedef
DualCoulombFrictionConeTpl<context::Scalar>
DualCoulombFrictionCone
;
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}
// namespace pinocchio
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#endif
// ifndef __pinocchio_algorithm_constraints_fwd_hpp__
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:11
pinocchio::ConstraintCollectionTpl
Definition:
fwd.hpp:20
pinocchio::ConstraintDataTpl
Definition:
constraint-data-generic.hpp:37
pinocchio::ConstraintModelTpl
Definition:
constraint-model-generic.hpp:37
pinocchio::CoulombFrictionConeTpl
 
Definition:
coulomb-friction-cone.hpp:21
pinocchio::DualCoulombFrictionConeTpl
 
Definition:
coulomb-friction-cone.hpp:203
pinocchio::RigidConstraintDataTpl
Definition:
fwd.hpp:16
pinocchio::RigidConstraintModelTpl
Definition:
fwd.hpp:14
include
pinocchio
algorithm
constraints
fwd.hpp
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