pinocchio  UNKNOWN
liegroup.hpp
1 //
2 // Copyright (c) 2016-2018 CNRS
3 //
4 // This file is part of Pinocchio
5 // Pinocchio is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 //
10 // Pinocchio is distributed in the hope that it will be
11 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
12 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Lesser Public License for more details. You should have
14 // received a copy of the GNU Lesser General Public License along with
15 // Pinocchio If not, see
16 // <http://www.gnu.org/licenses/>.
17 
18 #ifndef __se3_lie_group_hpp__
19 #define __se3_lie_group_hpp__
20 
21 #include "pinocchio/assert.hpp"
22 #include "pinocchio/multibody/liegroup/vector-space.hpp"
23 #include "pinocchio/multibody/liegroup/cartesian-product.hpp"
24 #include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
25 #include "pinocchio/multibody/liegroup/special-euclidean.hpp"
26 
27 #include "pinocchio/multibody/joint/fwd.hpp"
28 
29 namespace se3 {
30  struct LieGroupMap {
31  template<typename JointModel> struct operation {
33  };
34  };
35  template<typename JointModel>
36  struct LieGroup {
38  };
39 
43  };
46  };
49  };
50  template<typename Scalar, int Options, int axis>
51  struct LieGroupMap::operation <JointModelRevoluteUnboundedTpl<Scalar,Options,axis> > {
53  };
54 }
55 
56 #endif // ifndef __se3_lie_group_hpp__