5 #ifndef __pinocchio_algorithm_model_hpp__
6 #define __pinocchio_algorithm_model_hpp__
23 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
25 appendModel(
const ModelTpl<Scalar,Options,JointCollectionTpl> & modelA,
26 const ModelTpl<Scalar,Options,JointCollectionTpl> & modelB,
28 const SE3Tpl<Scalar,Options> & aMb,
29 ModelTpl<Scalar,Options,JointCollectionTpl> &
model);
42 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
43 ModelTpl<Scalar,Options,JointCollectionTpl>
64 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
66 appendModel(
const ModelTpl<Scalar,Options,JointCollectionTpl> & modelA,
67 const ModelTpl<Scalar,Options,JointCollectionTpl> & modelB,
68 const GeometryModel & geomModelA,
69 const GeometryModel & geomModelB,
71 const SE3Tpl<Scalar,Options> & aMb,
72 ModelTpl<Scalar,Options,JointCollectionTpl> &
model,
73 GeometryModel & geomModel);
90 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
95 ModelTpl<Scalar,Options,JointCollectionTpl> & reduced_model);
110 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
111 ModelTpl<Scalar,Options,JointCollectionTpl>
121 return reduced_model;
138 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
144 ModelTpl<Scalar,Options,JointCollectionTpl> & reduced_model,
145 GeometryModel & reduced_geom_model);
162 template <
typename,
int>
class JointCollectionTpl,
163 typename GeometryModelAllocator,
164 typename ConfigVectorType>
166 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
170 ModelTpl<Scalar, Options, JointCollectionTpl> &reduced_model,
171 std::vector<GeometryModel,GeometryModelAllocator> &list_of_reduced_geom_models);
175 #include "pinocchio/algorithm/model.hxx"
177 #endif // ifndef __pinocchio_algorithm_model_hpp__