se3.hpp

//
// Copyright (c) 2015-2018 CNRS
//
 
#ifndef __pinocchio_se3_hpp__
#define __pinocchio_se3_hpp__
 
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/macros.hpp"
 
#define PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived,TYPENAME) \
typedef TYPENAME traits<Derived>::Scalar Scalar; \
typedef TYPENAME traits<Derived>::AngularType AngularType; \
typedef TYPENAME traits<Derived>::LinearType LinearType; \
typedef TYPENAME traits<Derived>::AngularRef AngularRef; \
typedef TYPENAME traits<Derived>::LinearRef LinearRef; \
typedef TYPENAME traits<Derived>::ConstAngularRef ConstAngularRef; \
typedef TYPENAME traits<Derived>::ConstLinearRef ConstLinearRef; \
typedef TYPENAME traits<Derived>::ActionMatrixType ActionMatrixType; \
typedef TYPENAME traits<Derived>::HomogeneousMatrixType HomogeneousMatrixType; \
typedef TYPENAME traits<Derived>::PlainType PlainType; \
enum {  \
  Options = traits<Derived>::Options,  \
  LINEAR = traits<Derived>::LINEAR,  \
  ANGULAR = traits<Derived>::ANGULAR \
}
 
#define PINOCCHIO_SE3_TYPEDEF_TPL(Derived) \
PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived,typename)
 
#define PINOCCHIO_SE3_TYPEDEF(Derived) \
PINOCCHIO_SE3_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG)
 
namespace pinocchio
{
 
  /* Type returned by the "se3Action" and "se3ActionInverse" functions. */
  template<typename D>
  struct SE3GroupAction { typedef D ReturnType; };
 
} // namespace pinocchio
 
#include "pinocchio/spatial/se3-base.hpp"
#include "pinocchio/spatial/se3-tpl.hpp"
 
#endif // ifndef __pinocchio_se3_hpp__