math/fwd.hpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_math_fwd_hpp__
#define __invdyn_math_fwd_hpp__

#include <Eigen/Core>

#ifdef EIGEN_RUNTIME_NO_MALLOC
#define EIGEN_MALLOC_ALLOWED Eigen::internal::set_is_malloc_allowed(true);
#define EIGEN_MALLOC_NOT_ALLOWED Eigen::internal::set_is_malloc_allowed(false);
#else
#define EIGEN_MALLOC_ALLOWED
#define EIGEN_MALLOC_NOT_ALLOWED
#endif

namespace tsid {
namespace math {

typedef double Scalar;
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> Vector;
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Matrix;
typedef Eigen::VectorXi VectorXi;
typedef Eigen::Matrix<bool, Eigen::Dynamic, 1> VectorXb;

typedef Eigen::Matrix<Scalar, 3, 1> Vector3;
typedef Eigen::Matrix<Scalar, 6, 1> Vector6;
typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic> Matrix3x;

typedef Eigen::Ref<Vector3> RefVector3;
typedef const Eigen::Ref<const Vector3> ConstRefVector3;

typedef Eigen::Ref<Vector> RefVector;
typedef const Eigen::Ref<const Vector> ConstRefVector;

typedef Eigen::Ref<Matrix> RefMatrix;
typedef const Eigen::Ref<const Matrix> ConstRefMatrix;

typedef std::size_t Index;

// Forward declaration of constraints
class ConstraintBase;
class ConstraintEquality;
class ConstraintInequality;
class ConstraintBound;

}  // namespace math
}  // namespace tsid

#endif  // ifndef __invdyn_math_fwd_hpp__