liegroup-collection.hpp

//
// Copyright (c) 2018 CNRS
//
 
#ifndef __pinocchio_lie_group_collection_hpp__
#define __pinocchio_lie_group_collection_hpp__
 
#include "pinocchio/multibody/liegroup/vector-space.hpp"
#include "pinocchio/multibody/liegroup/cartesian-product.hpp"
#include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
#include "pinocchio/multibody/liegroup/special-euclidean.hpp"
 
#include <boost/variant.hpp>
 
namespace pinocchio
{
  template<typename _Scalar, int _Options = context::Options>
  struct LieGroupCollectionDefaultTpl
  {
    typedef _Scalar Scalar;
    enum
    {
      Options = _Options
    };
 
    typedef boost::variant<
      SpecialOrthogonalOperationTpl<2, Scalar, Options>,
      SpecialOrthogonalOperationTpl<3, Scalar, Options>,
      SpecialEuclideanOperationTpl<2, Scalar, Options>,
      SpecialEuclideanOperationTpl<3, Scalar, Options>,
      VectorSpaceOperationTpl<1, Scalar, Options>,
      VectorSpaceOperationTpl<2, Scalar, Options>,
      VectorSpaceOperationTpl<3, Scalar, Options>,
      VectorSpaceOperationTpl<Eigen::Dynamic, Scalar, Options>>
      LieGroupVariant;
  };
 
  typedef LieGroupCollectionDefaultTpl<context::Scalar> LieGroupCollectionDefault;
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_lie_group_collection_hpp__