typedef.hpp

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#ifndef MYTYPEDEF_HPP_
#define MYTYPEDEF_HPP_

#include <eigen3/Eigen/Dense>
#include <voxel_grid/voxel_grid.h>
#include <set>
#include <vector>

namespace robot_model_services {
    // the used precision in all calculations
    typedef float Precision;

    // matrix types
    typedef Eigen::Matrix<Precision, 2, 2> SimpleMatrix2;
    typedef Eigen::Matrix<Precision, 3, 3> SimpleMatrix3;
    typedef Eigen::Matrix<Precision, 4, 4> SimpleMatrix4;
    typedef Eigen::Matrix<Precision, Eigen::Dynamic, Eigen::Dynamic> SimpleMatrixX;

    // matrix list types
    typedef std::vector<SimpleMatrix3, Eigen::aligned_allocator<SimpleMatrix3> > SimpleMatrix3Collection;
    typedef boost::shared_ptr<SimpleMatrix3Collection> SimpleMatrix3CollectionPtr;

    typedef std::vector<SimpleMatrix4, Eigen::aligned_allocator<SimpleMatrix4> > SimpleMatrix4Collection;
    typedef boost::shared_ptr<SimpleMatrix4Collection> SimpleMatrix4CollectionPtr;

    // vector types
    typedef Eigen::Matrix<Precision, 2, 1> SimpleVector2;
    typedef Eigen::Matrix<Precision, 3, 1> SimpleVector3;
    typedef SimpleVector3 SimpleSphereCoordinates;
    typedef Eigen::Matrix<Precision, 4, 1> SimpleVector4;
    typedef Eigen::Matrix<Precision, Eigen::Dynamic, 1> SimpleVectorX;
    typedef Eigen::Matrix<int, 3, 1> GridVector3;

    // vector list types
    typedef std::vector<SimpleVector3, Eigen::aligned_allocator<SimpleVector3> > SimpleVector3Collection;
    typedef boost::shared_ptr<SimpleVector3Collection> SimpleVector3CollectionPtr;

    typedef std::vector<SimpleVector4, Eigen::aligned_allocator<SimpleVector4> > SimpleVector4Collection;
    typedef boost::shared_ptr<SimpleVector4Collection> SimpleVector4CollectionPtr;

    // quaternion type
    typedef Eigen::Quaternion<Precision> SimpleQuaternion;

    // quaternion list types
    typedef std::vector<SimpleQuaternion, Eigen::aligned_allocator<SimpleQuaternion> > SimpleQuaternionCollection;
    typedef boost::shared_ptr<SimpleQuaternionCollection> SimpleQuaternionCollectionPtr;

    // forward declaration for point types
    struct RealObjectPoint;
    struct SpaceSamplePoint;
    struct DefaultViewportPoint;

    // create aliases for actually used point types
    typedef RealObjectPoint ObjectPoint;
    typedef SpaceSamplePoint SamplePoint;
    typedef DefaultViewportPoint ViewportPoint;

    // defining squared distances type used in kdtree
    typedef std::vector<float> SquaredDistances;

    // defining indices types
    typedef std::vector<int> Indices;
    typedef boost::shared_ptr<Indices> IndicesPtr;
    typedef boost::shared_ptr<const IndicesPtr> IndicesConstPtr;

    // the list of object types
    typedef std::vector<std::string> ObjectTypeList;
    typedef boost::shared_ptr<ObjectTypeList> ObjectTypeListPtr;
    typedef std::set<std::string> ObjectTypeSet;
    typedef boost::shared_ptr<ObjectTypeSet> ObjectTypeSetPtr;
    typedef std::set<ObjectTypeSetPtr> ObjectTypePowerSet;
    typedef boost::shared_ptr<ObjectTypePowerSet> ObjectTypePowerSetPtr;

    // voxel grid types
    typedef voxel_grid::VoxelGrid VoxelGrid;
    typedef boost::shared_ptr<VoxelGrid> VoxelGridPtr;

}

#endif /* MYTYPEDEF_HPP_ */