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
{
 
  PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
  PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
  template<typename Scalar, int Options = context::Options>
  struct FrameTpl;
  PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
  typedef std::size_t Index;
  typedef Index JointIndex;
  typedef Index GeomIndex;
  typedef Index FrameIndex;
  typedef Index PairIndex;
 
  typedef FrameTpl<context::Scalar, context::Options> Frame;
 
  typedef ModelTpl<context::Scalar, context::Options> Model;
  typedef DataTpl<context::Scalar, context::Options> Data;
 
  struct GeometryModel;
  struct GeometryData;
 
  enum ReferenceFrame
  {
    WORLD = 0, 
    LOCAL = 1, 
    LOCAL_WORLD_ALIGNED = 2 
  };
 
  enum KinematicLevel
  {
    POSITION = 0,    
    VELOCITY = 1,    
    ACCELERATION = 2 
  };
 
  enum struct Convention
  {
    WORLD = 0,
    LOCAL = 1,
  };
 
  // end of group multibody
 
  // Forward declaration needed for Model::check
  template<class D>
  struct AlgorithmCheckerBase;
 
} // namespace pinocchio
 
#endif // #ifndef __pinocchio_multibody_fwd_hpp__