collision/pool/fwd.hpp

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//
// Copyright (c) 2021-2022 INRIA
//
 
#ifndef __pinocchio_collision_pool_fwd_hpp__
#define __pinocchio_collision_pool_fwd_hpp__
 
#include "pinocchio/multibody/joint/fwd.hpp"
 
namespace pinocchio
{
 
  template<
    typename BroadPhaseManagerDerived,
    typename Scalar,
    int Options = 0,
    template<typename, int> class JointCollectionTpl = JointCollectionDefaultTpl>
  class BroadPhaseManagerPoolBase;
 
  template<typename Manager>
  struct BroadPhaseManagerTpl; // fwd
 
  template<
    typename ManagerDerived,
    typename Scalar,
    int Options = 0,
    template<typename, int> class JointCollectionTpl = JointCollectionDefaultTpl>
  using BroadPhaseManagerPoolTpl = BroadPhaseManagerPoolBase<
    BroadPhaseManagerTpl<ManagerDerived>,
    Scalar,
    Options,
    JointCollectionTpl>;
 
  template<typename ManagerDerived, typename Scalar>
  using BroadPhaseManagerPool = BroadPhaseManagerPoolTpl<ManagerDerived, Scalar>;
 
  template<typename Manager>
  struct TreeBroadPhaseManagerTpl; // fwd
 
  template<
    typename ManagerDerived,
    typename Scalar,
    int Options = 0,
    template<typename, int> class JointCollectionTpl = JointCollectionDefaultTpl>
  using TreeBroadPhaseManagerPoolTpl = BroadPhaseManagerPoolBase<
    TreeBroadPhaseManagerTpl<ManagerDerived>,
    Scalar,
    Options,
    JointCollectionTpl>;
 
  template<typename ManagerDerived, typename Scalar>
  using TreeBroadPhaseManagerPool = TreeBroadPhaseManagerPoolTpl<ManagerDerived, Scalar>;
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_collision_pool_fwd_hpp__