fwd.hpp

//
// Copyright (c) 2017-2020 CNRS INRIA
//
 
#ifndef __pinocchio_multibody_fwd_hpp__
#define __pinocchio_multibody_fwd_hpp__
 
#include "pinocchio/fwd.hpp"
 
#include "pinocchio/multibody/joint/fwd.hpp"
 
namespace pinocchio
{
 
  template<typename Scalar, int Options=0> struct FrameTpl;
 
  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
  struct ModelTpl;
  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
  struct DataTpl;
 
  typedef std::size_t Index;
  typedef Index JointIndex;
  typedef Index GeomIndex;
  typedef Index FrameIndex;
  typedef Index PairIndex;
  
  typedef FrameTpl<double> Frame;
  
  typedef ModelTpl<double> Model;
  typedef DataTpl<double> Data;
  
  struct GeometryModel;
  struct GeometryData;
  
  enum ReferenceFrame
  {
    WORLD = 0, 
    LOCAL = 1, 
    LOCAL_WORLD_ALIGNED = 2 
  };
 
  enum KinematicLevel
  {
    POSITION = 0, 
    VELOCITY = 1, 
    ACCELERATION = 2 
  };
 
  // end of group multibody
 
  // Forward declaration needed for Model::check
  template<class D> struct AlgorithmCheckerBase;
 
} // namespace pinocchio
 
#endif // #ifndef __pinocchio_multibody_fwd_hpp__