pinocchio  3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
fwd.hpp
1 //
2 // Copyright (c) 2022-2023 INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_constraints_fwd_hpp__
6 #define __pinocchio_algorithm_constraints_fwd_hpp__
7 
8 #include "pinocchio/algorithm/fwd.hpp"
9 #include <boost/variant.hpp>
10 
11 namespace pinocchio
12 {
13  template<typename Scalar, int Options = 0>
15  template<typename Scalar, int Options = 0>
17 
18  template<typename _Scalar, int _Options>
20  {
21  typedef _Scalar Scalar;
22  enum
23  {
24  Options = _Options
25  };
26 
29 
30  typedef boost::variant<RigidConstraintModel> ConstraintModelVariant;
31  typedef boost::variant<RigidConstraintData> ConstraintDataVariant;
32  };
33 
35 
36  template<typename Scalar, int _Options, template<typename S, int O> class ConstraintCollectionTpl>
37  struct ConstraintModelTpl;
40 
41  template<typename Scalar, int _Options, template<typename S, int O> class ConstraintCollectionTpl>
42  struct ConstraintDataTpl;
45 
46  template<typename Scalar>
49 
50  template<typename Scalar>
53 } // namespace pinocchio
54 
55 #endif // ifndef __pinocchio_algorithm_constraints_fwd_hpp__
Main pinocchio namespace.
Definition: treeview.dox:11