traits.h

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#ifndef KDLPV_TRAITS_H 
#define KDLPV_TRAITS_H 

#include "utility.h"

 
// forwards declarations :
namespace KDL {
   class Frame;
    class Rotation;
    class Vector;
    class Twist;
    class Wrench;
    class FrameVel;
    class RotationVel;
    class VectorVel;
    class TwistVel;
}


template <typename T>
struct Traits {
    typedef T valueType;
    typedef T derivType;
};

template <>
struct Traits<KDL::Frame> {
    typedef KDL::Frame valueType;
    typedef KDL::Twist derivType;
};
template <>
struct Traits<KDL::Twist> {
    typedef KDL::Twist valueType;
    typedef KDL::Twist derivType;
};
template <>
struct Traits<KDL::Wrench> {
    typedef KDL::Wrench valueType;
    typedef KDL::Wrench derivType;
};

template <>
struct Traits<KDL::Rotation> {
    typedef KDL::Rotation valueType;
    typedef KDL::Vector derivType;
};

template <>
struct Traits<KDL::Vector> {
    typedef KDL::Vector valueType;
    typedef KDL::Vector derivType;
};

template <>
struct Traits<double> {
    typedef double valueType;
    typedef double derivType;
};

template <>
struct Traits<float> {
    typedef float valueType;
    typedef float derivType;
};

template <>
struct Traits<KDL::FrameVel> {
    typedef KDL::Frame valueType;
    typedef KDL::TwistVel derivType;
};
template <>
struct Traits<KDL::TwistVel> {
    typedef KDL::Twist valueType;
    typedef KDL::TwistVel derivType;
};

template <>
struct Traits<KDL::RotationVel> {
    typedef KDL::Rotation valueType;
    typedef KDL::VectorVel derivType;
};

template <>
struct Traits<KDL::VectorVel> {
    typedef KDL::Vector valueType;
    typedef KDL::VectorVel derivType;
};



#endif