src/algorithm/model.cpp

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//
// Copyright (c) 2022 INRIA
//
 
#include "pinocchio/spatial/fwd.hpp"
 
#ifndef PINOCCHIO_SKIP_ALGORITHM_MODEL
 
  #include "pinocchio/algorithm/model.hpp"
 
namespace pinocchio
{
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
  appendModel<context::Scalar, context::Options, JointCollectionDefaultTpl>(
    const context::Model &,
    const context::Model &,
    const FrameIndex,
    const SE3Tpl<context::Scalar, context::Options> &,
    context::Model &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Model
  appendModel<context::Scalar, context::Options, JointCollectionDefaultTpl>(
    const context::Model &,
    const context::Model &,
    const FrameIndex,
    const SE3Tpl<context::Scalar, context::Options> &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
  appendModel<context::Scalar, context::Options, JointCollectionDefaultTpl>(
    const context::Model &,
    const context::Model &,
    const GeometryModel &,
    const GeometryModel &,
    const FrameIndex,
    const SE3Tpl<context::Scalar, context::Options> &,
    context::Model &,
    GeometryModel &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void buildReducedModel<
    context::Scalar,
    context::Options,
    JointCollectionDefaultTpl,
    context::VectorXs>(
    const context::Model &,
    const std::vector<JointIndex>,
    const Eigen::MatrixBase<context::VectorXs> &,
    context::Model &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI context::Model buildReducedModel<
    context::Scalar,
    context::Options,
    JointCollectionDefaultTpl,
    context::VectorXs>(
    const context::Model &,
    const std::vector<JointIndex> &,
    const Eigen::MatrixBase<context::VectorXs> &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void buildReducedModel<
    context::Scalar,
    context::Options,
    JointCollectionDefaultTpl,
    context::VectorXs>(
    const context::Model &,
    const GeometryModel &,
    const std::vector<JointIndex> &,
    const Eigen::MatrixBase<context::VectorXs> &,
    context::Model &,
    GeometryModel &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void buildReducedModel<
    context::Scalar,
    context::Options,
    JointCollectionDefaultTpl,
    Eigen::aligned_allocator<GeometryModel>,
    context::VectorXs>(
    const context::Model &,
    const std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> &,
    const std::vector<JointIndex> &,
    const Eigen::MatrixBase<context::VectorXs> &,
    context::Model &,
    std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
  transformJointIntoMimic<context::Scalar, context::Options, JointCollectionDefaultTpl>(
    const context::Model &,
    const JointIndex &,
    const JointIndex &,
    const context::Scalar &,
    const context::Scalar &,
    context::Model &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
  buildMimicModel<context::Scalar, context::Options, JointCollectionDefaultTpl>(
    const context::Model &,
    const std::vector<JointIndex> &,
    const std::vector<JointIndex> &,
    const std::vector<context::Scalar> &,
    const std::vector<context::Scalar> &,
    context::Model &);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI JointIndex
  findCommonAncestor<context::Scalar, context::Options, JointCollectionDefaultTpl>(
    const context::Model &, JointIndex, JointIndex, size_t &, size_t &);
} // namespace pinocchio
 
#endif // PINOCCHIO_SKIP_ALGORITHM_MODEL