5 #ifndef __pinocchio_algorithm_model_hpp__
6 #define __pinocchio_algorithm_model_hpp__
27 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
29 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
30 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
32 const SE3Tpl<Scalar, Options> & aMb,
33 ModelTpl<Scalar, Options, JointCollectionTpl> &
model);
50 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
77 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
79 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
80 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
81 const GeometryModel & geomModelA,
82 const GeometryModel & geomModelB,
84 const SE3Tpl<Scalar, Options> & aMb,
85 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
86 GeometryModel & geomModel);
107 template<
typename,
int>
108 class JointCollectionTpl,
109 typename ConfigVectorType>
111 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
114 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model);
133 template<
typename,
int>
134 class JointCollectionTpl,
135 typename ConfigVectorType>
146 return reduced_model;
168 template<
typename,
int>
169 class JointCollectionTpl,
170 typename ConfigVectorType>
172 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
176 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
177 GeometryModel & reduced_geom_model);
198 template<
typename,
int>
199 class JointCollectionTpl,
200 typename GeometryModelAllocator,
201 typename ConfigVectorType>
203 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
207 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
208 std::vector<GeometryModel, GeometryModelAllocator> & list_of_reduced_geom_models);
221 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
223 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
226 size_t & index_ancestor_in_support1,
227 size_t & index_ancestor_in_support2);
231 #include "pinocchio/algorithm/model.hxx"
233 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
234 #include "pinocchio/algorithm/model.txx"
235 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
237 #endif // ifndef __pinocchio_algorithm_model_hpp__