pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
fwd.hpp
1 //
2 // Copyright (c) 2016-2019 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_multibody_joint_fwd_hpp__
6 #define __pinocchio_multibody_joint_fwd_hpp__
7 
8 #include "pinocchio/fwd.hpp"
9 
10 namespace pinocchio
11 {
12 
14  enum { MAX_JOINT_NV = 6 };
16 
22  struct JointModelVoid {};
23  struct JointDataVoid {};
24 
25  template<typename Scalar, int Options, int axis> struct JointModelRevoluteTpl;
26  template<typename Scalar, int Options, int axis> struct JointDataRevoluteTpl;
27 
28  template<typename Scalar, int Options = 0> struct JointModelRevoluteUnalignedTpl;
29  typedef JointModelRevoluteUnalignedTpl<double> JointModelRevoluteUnaligned;
30 
31  template<typename Scalar, int Options = 0> struct JointDataRevoluteUnalignedTpl;
32  typedef JointDataRevoluteUnalignedTpl<double> JointDataRevoluteUnaligned;
33 
34  template<typename Scalar, int Options = 0> struct JointModelRevoluteUnboundedUnalignedTpl;
35  typedef JointModelRevoluteUnboundedUnalignedTpl<double> JointModelRevoluteUnboundedUnaligned;
36  template<typename Scalar, int Options = 0> struct JointDataRevoluteUnboundedUnalignedTpl;
37  typedef JointDataRevoluteUnboundedUnalignedTpl<double> JointDataRevoluteUnboundedUnaligned;
38 
39  template<typename Scalar, int Options, int axis> struct JointModelRevoluteUnboundedTpl;
40  template<typename Scalar, int Options, int axis> struct JointDataRevoluteUnboundedTpl;
41 
42  template<typename Scalar, int Options = 0> struct JointModelSphericalTpl;
43  typedef JointModelSphericalTpl<double> JointModelSpherical;
44 
45  template<typename Scalar, int Options = 0> struct JointDataSphericalTpl;
46  typedef JointDataSphericalTpl<double> JointDataSpherical;
47 
48  template<typename Scalar, int Options = 0> struct JointModelSphericalZYXTpl;
49  typedef JointModelSphericalZYXTpl<double> JointModelSphericalZYX;
50 
51  template<typename Scalar, int Options = 0> struct JointDataSphericalZYXTpl;
52  typedef JointDataSphericalZYXTpl<double> JointDataSphericalZYX;
53 
54  template<typename Scalar, int Options, int axis> struct JointModelPrismaticTpl;
55  template<typename Scalar, int Options, int axis> struct JointDataPrismaticTpl;
56 
57  template<typename Scalar, int Options = 0> struct JointModelPrismaticUnalignedTpl;
58  typedef JointModelPrismaticUnalignedTpl<double> JointModelPrismaticUnaligned;
59 
60  template<typename Scalar, int Options = 0> struct JointDataPrismaticUnalignedTpl;
61  typedef JointDataPrismaticUnalignedTpl<double> JointDataPrismaticUnaligned;
62 
63  template<typename Scalar, int Options = 0> struct JointModelFreeFlyerTpl;
64  typedef JointModelFreeFlyerTpl<double> JointModelFreeFlyer;
65 
66  template<typename Scalar, int Options = 0> struct JointDataFreeFlyerTpl;
67  typedef JointDataFreeFlyerTpl<double> JointDataFreeFlyer;
68 
69  template<typename Scalar, int Options = 0> struct JointModelPlanarTpl;
70  typedef JointModelPlanarTpl<double> JointModelPlanar;
71 
72  template<typename Scalar, int Options = 0> struct JointDataPlanarTpl;
73  typedef JointDataPlanarTpl<double> JointDataPlanar;
74 
75  template<typename Scalar, int Options = 0> struct JointModelTranslationTpl;
76  typedef JointModelTranslationTpl<double> JointModelTranslation;
77 
78  template<typename Scalar, int Options = 0> struct JointDataTranslationTpl;
79  typedef JointDataTranslationTpl<double> JointDataTranslation;
80 
81  template<typename Scalar, int Options = 0> struct JointCollectionDefaultTpl;
82  typedef JointCollectionDefaultTpl<double> JointCollectionDefault;
83 
84  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
85  struct JointModelCompositeTpl;
86  typedef JointModelCompositeTpl<double> JointModelComposite;
87 
88  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
89  struct JointDataCompositeTpl;
90  typedef JointDataCompositeTpl<double> JointDataComposite;
91 
92  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
93  struct JointModelTpl;
94  typedef JointModelTpl<double> JointModel;
95 
96  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
97  struct JointDataTpl;
98  typedef JointDataTpl<double> JointData;
99 
103  // end of group joint
104 }
105 
106 #include "pinocchio/multibody/fwd.hpp"
107 
108 #endif // ifndef __pinocchio_multibody_joint_fwd_hpp__
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24