algorithm/constraints/fwd.hpp

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//
// Copyright (c) 2022-2023 INRIA
//
 
#ifndef __pinocchio_algorithm_constraints_fwd_hpp__
#define __pinocchio_algorithm_constraints_fwd_hpp__
 
#include "pinocchio/algorithm/fwd.hpp"
#include <boost/variant.hpp>
 
namespace pinocchio
{
  template<typename Scalar, int Options = 0>
  struct RigidConstraintModelTpl;
  template<typename Scalar, int Options = 0>
  struct RigidConstraintDataTpl;
 
  template<typename _Scalar, int _Options>
  struct ConstraintCollectionTpl
  {
    typedef _Scalar Scalar;
    enum
    {
      Options = _Options
    };
 
    typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel;
    typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData;
 
    typedef boost::variant<RigidConstraintModel> ConstraintModelVariant;
    typedef boost::variant<RigidConstraintData> ConstraintDataVariant;
  };
 
  typedef ConstraintCollectionTpl<context::Scalar, context::Options> ConstraintCollection;
 
  template<typename Scalar, int _Options, template<typename S, int O> class ConstraintCollectionTpl>
  struct ConstraintModelTpl;
  typedef ConstraintModelTpl<context::Scalar, context::Options, ConstraintCollectionTpl>
    ConstraintModel;
 
  template<typename Scalar, int _Options, template<typename S, int O> class ConstraintCollectionTpl>
  struct ConstraintDataTpl;
  typedef ConstraintDataTpl<context::Scalar, context::Options, ConstraintCollectionTpl>
    ConstraintData;
 
  template<typename Scalar>
  struct CoulombFrictionConeTpl;
  typedef CoulombFrictionConeTpl<context::Scalar> CoulombFrictionCone;
 
  template<typename Scalar>
  struct DualCoulombFrictionConeTpl;
  typedef DualCoulombFrictionConeTpl<context::Scalar> DualCoulombFrictionCone;
} // namespace pinocchio
 
#endif // ifndef __pinocchio_algorithm_constraints_fwd_hpp__