Program Listing for File liegroup-collection.hpp
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//
// Copyright (c) 2018 CNRS
//
#ifndef __pinocchio_lie_group_collection_hpp__
#define __pinocchio_lie_group_collection_hpp__
#include "pinocchio/multibody/liegroup/vector-space.hpp"
#include "pinocchio/multibody/liegroup/cartesian-product.hpp"
#include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
#include "pinocchio/multibody/liegroup/special-euclidean.hpp"
#include <boost/variant.hpp>
namespace pinocchio
{
template<typename _Scalar, int _Options = 0>
struct LieGroupCollectionDefaultTpl
{
typedef _Scalar Scalar;
enum { Options = _Options };
typedef boost::variant<
SpecialOrthogonalOperationTpl<2,Scalar,Options>
,SpecialOrthogonalOperationTpl<3,Scalar,Options>
,SpecialEuclideanOperationTpl<2,Scalar,Options>
,SpecialEuclideanOperationTpl<3,Scalar,Options>
,VectorSpaceOperationTpl<1,Scalar,Options>
,VectorSpaceOperationTpl<2,Scalar,Options>
,VectorSpaceOperationTpl<3,Scalar,Options>
,VectorSpaceOperationTpl<Eigen::Dynamic,Scalar,Options>
> LieGroupVariant;
};
typedef LieGroupCollectionDefaultTpl<double> LieGroupCollectionDefault;
}
#endif // ifndef __pinocchio_lie_group_collection_hpp__