6 #ifndef __pinocchio_spatial_fwd_hpp__
7 #define __pinocchio_spatial_fwd_hpp__
18 template<
typename Type,
typename Scalar>
19 struct RHSScalarMultiplication
25 template<
typename Type,
typename Scalar>
38 template<
typename Scalar,
int Options = context::Options>
41 template<
typename Derived>
43 template<
typename Derived>
45 template<
typename Vector6ArgType>
47 template<
typename Scalar,
int Options = context::Options>
50 template<
typename Derived>
52 template<
typename Derived>
54 template<
typename Vector6ArgType>
57 template<
typename Scalar,
int Options = context::Options>
59 template<
typename Scalar,
int Options = context::Options>
74 #define SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived, TYPENAME) \
75 typedef TYPENAME traits<derived>::Scalar Scalar; \
76 typedef TYPENAME traits<derived>::Vector3 Vector3; \
77 typedef TYPENAME traits<derived>::Vector4 Vector4; \
78 typedef TYPENAME traits<derived>::Vector6 Vector6; \
79 typedef TYPENAME traits<derived>::Matrix3 Matrix3; \
80 typedef TYPENAME traits<derived>::Matrix4 Matrix4; \
81 typedef TYPENAME traits<derived>::Matrix6 Matrix6; \
82 typedef TYPENAME traits<derived>::Angular_t Angular_t; \
83 typedef TYPENAME traits<derived>::Linear_t Linear_t; \
84 typedef TYPENAME traits<derived>::ConstAngular_t ConstAngular_t; \
85 typedef TYPENAME traits<derived>::ConstLinear_t ConstLinear_t; \
86 typedef TYPENAME traits<derived>::ActionMatrix_t ActionMatrix_t; \
87 typedef TYPENAME traits<derived>::Quaternion_t Quaternion_t; \
88 typedef TYPENAME traits<derived>::SE3 SE3; \
89 typedef TYPENAME traits<derived>::Force Force; \
90 typedef TYPENAME traits<derived>::Motion Motion; \
91 typedef TYPENAME traits<derived>::Symmetric3 Symmetric3; \
94 LINEAR = traits<derived>::LINEAR, \
95 ANGULAR = traits<derived>::ANGULAR \
98 #define SPATIAL_TYPEDEF_TEMPLATE(derived) SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived, typename)
100 #define SPATIAL_TYPEDEF_NO_TEMPLATE(derived) \
101 SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived, PINOCCHIO_MACRO_EMPTY_ARG)
107 template<
typename Class,
typename NewScalar,
typename Scalar>
108 struct cast_call_normalize_method;
113 #endif // ifndef __pinocchio_spatial_fwd_hpp__