src/multibody/fwd.hpp

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//
// Copyright (c) 2017-2020 CNRS INRIA
//

#ifndef __pinocchio_multibody_fwd_hpp__
#define __pinocchio_multibody_fwd_hpp__

#include "pinocchio/fwd.hpp"

#include "pinocchio/multibody/joint/fwd.hpp"

namespace pinocchio
{

  template<typename Scalar, int Options=0> struct FrameTpl;

  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
  struct ModelTpl;
  template<typename Scalar, int Options = 0, template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
  struct DataTpl;

  typedef std::size_t Index;
  typedef Index JointIndex;
  typedef Index GeomIndex;
  typedef Index FrameIndex;
  typedef Index PairIndex;
  
  typedef FrameTpl<double> Frame;
  
  typedef ModelTpl<double> Model;
  typedef DataTpl<double> Data;
  
  struct GeometryModel;
  struct GeometryData;
  
  enum ReferenceFrame
  {
    WORLD = 0, 
    LOCAL = 1, 
    LOCAL_WORLD_ALIGNED = 2 
  };

  enum KinematicLevel
  {
    POSITION = 0, 
    VELOCITY = 1, 
    ACCELERATION = 2 
  };

  // end of group multibody

  // Forward declaration needed for Model::check
  template<class D> struct AlgorithmCheckerBase;

} // namespace pinocchio

#endif // #ifndef __pinocchio_multibody_fwd_hpp__