5 #ifndef __pinocchio_algorithm_model_hpp__
6 #define __pinocchio_algorithm_model_hpp__
27 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
29 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
30 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
32 const SE3Tpl<Scalar, Options> & aMb,
33 ModelTpl<Scalar, Options, JointCollectionTpl> &
model);
50 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
77 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
79 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA,
80 const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB,
81 const GeometryModel & geomModelA,
82 const GeometryModel & geomModelB,
84 const SE3Tpl<Scalar, Options> & aMb,
85 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
86 GeometryModel & geomModel);
107 template<
typename,
int>
class JointCollectionTpl,
108 typename ConfigVectorType>
110 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
113 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model);
132 template<
typename,
int>
class JointCollectionTpl,
133 typename ConfigVectorType>
144 return reduced_model;
166 template<
typename,
int>
class JointCollectionTpl,
167 typename ConfigVectorType>
169 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
173 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
174 GeometryModel & reduced_geom_model);
195 template<
typename,
int>
class JointCollectionTpl,
196 typename GeometryModelAllocator,
197 typename ConfigVectorType>
199 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
203 ModelTpl<Scalar, Options, JointCollectionTpl> & reduced_model,
204 std::vector<GeometryModel, GeometryModelAllocator> & list_of_reduced_geom_models);
219 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
221 const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
226 ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
240 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
242 const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
243 const std::vector<JointIndex> & index_mimicked,
244 const std::vector<JointIndex> & index_mimicking,
245 const std::vector<Scalar> & scaling,
246 const std::vector<Scalar> & offset,
247 ModelTpl<Scalar, Options, JointCollectionTpl> & output_model);
260 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
262 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
265 size_t & index_ancestor_in_support1,
266 size_t & index_ancestor_in_support2);
270 #include "pinocchio/algorithm/model.hxx"
272 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
273 #include "pinocchio/algorithm/model.txx"
274 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
276 #endif // ifndef __pinocchio_algorithm_model_hpp__