pinocchio
2.7.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
motion.hpp
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//
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// Copyright (c) 2015-2018 CNRS
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// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
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//
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#ifndef __pinocchio_motion_hpp__
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#define __pinocchio_motion_hpp__
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#include "pinocchio/spatial/fwd.hpp"
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#include "pinocchio/macros.hpp"
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#include "pinocchio/spatial/se3.hpp"
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#define MOTION_TYPEDEF_GENERIC(Derived,TYPENAME) \
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typedef TYPENAME traits<Derived>::Scalar Scalar; \
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typedef TYPENAME traits<Derived>::Vector3 Vector3; \
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typedef TYPENAME traits<Derived>::Vector6 Vector6; \
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typedef TYPENAME traits<Derived>::Matrix4 Matrix4; \
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typedef TYPENAME traits<Derived>::Matrix6 Matrix6; \
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typedef TYPENAME traits<Derived>::ToVectorReturnType ToVectorReturnType; \
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typedef TYPENAME traits<Derived>::ToVectorConstReturnType ToVectorConstReturnType; \
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typedef TYPENAME traits<Derived>::AngularType AngularType; \
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typedef TYPENAME traits<Derived>::LinearType LinearType; \
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typedef TYPENAME traits<Derived>::ConstAngularType ConstAngularType; \
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typedef TYPENAME traits<Derived>::ConstLinearType ConstLinearType; \
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typedef TYPENAME traits<Derived>::ActionMatrixType ActionMatrixType; \
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typedef TYPENAME traits<Derived>::HomogeneousMatrixType HomogeneousMatrixType; \
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typedef TYPENAME traits<Derived>::MotionPlain MotionPlain; \
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typedef TYPENAME traits<Derived>::PlainReturnType PlainReturnType; \
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enum { \
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LINEAR = traits<Derived>::LINEAR, \
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ANGULAR = traits<Derived>::ANGULAR \
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}
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#define MOTION_TYPEDEF_TPL(Derived) \
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MOTION_TYPEDEF_GENERIC(Derived,typename)
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#define MOTION_TYPEDEF(Derived) \
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MOTION_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG)
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namespace
pinocchio
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{
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template
<
typename
D,
typename
MotionDerived>
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struct
MotionAlgebraAction
{
typedef
D ReturnType; };
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}
// namespace pinocchio
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#include "pinocchio/spatial/motion-base.hpp"
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#include "pinocchio/spatial/motion-dense.hpp"
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#include "pinocchio/spatial/motion-tpl.hpp"
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#include "pinocchio/spatial/motion-ref.hpp"
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#include "pinocchio/spatial/motion-zero.hpp"
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#endif // ifndef __pinocchio_motion_hpp__
pinocchio::MotionAlgebraAction
Return type of the ation of a Motion onto an object of type D.
Definition:
motion.hpp:46
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:11
include
pinocchio
spatial
motion.hpp
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