src/spatial/force.hpp
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1 //
2 // Copyright (c) 2015-2018 CNRS
3 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5 
6 #ifndef __pinocchio_force_hpp__
7 #define __pinocchio_force_hpp__
8 
9 #include "pinocchio/spatial/fwd.hpp"
10 #include "pinocchio/spatial/se3.hpp"
11 #include "pinocchio/spatial/motion.hpp"
12 
13 #define FORCE_TYPEDEF_GENERIC(Derived,TYPENAME) \
14 typedef TYPENAME traits<Derived>::Scalar Scalar; \
15 typedef TYPENAME traits<Derived>::Vector3 Vector3; \
16 typedef TYPENAME traits<Derived>::Vector6 Vector6; \
17 typedef TYPENAME traits<Derived>::Matrix6 Matrix6; \
18 typedef TYPENAME traits<Derived>::ToVectorReturnType ToVectorReturnType; \
19 typedef TYPENAME traits<Derived>::ToVectorConstReturnType ToVectorConstReturnType; \
20 typedef TYPENAME traits<Derived>::AngularType AngularType; \
21 typedef TYPENAME traits<Derived>::LinearType LinearType; \
22 typedef TYPENAME traits<Derived>::ConstAngularType ConstAngularType; \
23 typedef TYPENAME traits<Derived>::ConstLinearType ConstLinearType; \
24 typedef TYPENAME traits<Derived>::ForcePlain ForcePlain; \
25 enum { \
26 LINEAR = traits<Derived>::LINEAR, \
27 ANGULAR = traits<Derived>::ANGULAR \
28 }
29 
30 #define FORCE_TYPEDEF_TPL(Derived) \
31 FORCE_TYPEDEF_GENERIC(Derived,typename)
32 
33 #define FORCE_TYPEDEF(Derived) \
34 FORCE_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG)
35 
36 #include "pinocchio/spatial/force-base.hpp"
37 #include "pinocchio/spatial/force-dense.hpp"
38 #include "pinocchio/spatial/force-tpl.hpp"
39 #include "pinocchio/spatial/force-ref.hpp"
40 
41 #endif // ifndef __pinocchio_force_hpp__
42 


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autogenerated on Fri Jun 23 2023 02:38:30