Program Listing for File generic.hpp
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//
// Copyright (c) 2022 INRIA
//
#ifndef __pinocchio_context_generic_hpp__
#define __pinocchio_context_generic_hpp__
#include <Eigen/Core>
#include "pinocchio/container/aligned-vector.hpp"
namespace pinocchio
{
template<typename _Scalar, int _Options>
struct JointCollectionDefaultTpl;
template<
typename _Scalar,
int _Options = 0,
template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
struct ModelTpl;
template<
typename _Scalar,
int _Options = 0,
template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
struct DataTpl;
template<typename _Scalar, int _Options = 0>
class MotionTpl;
template<typename _Scalar, int _Options = 0>
class ForceTpl;
template<typename _Scalar, int _Options>
struct RigidConstraintModelTpl;
template<typename _Scalar, int _Options>
struct RigidConstraintDataTpl;
template<typename _Scalar>
struct CoulombFrictionConeTpl;
template<typename _Scalar>
struct DualCoulombFrictionConeTpl;
namespace context
{
typedef PINOCCHIO_SCALAR_TYPE Scalar;
enum
{
Options = 0
};
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6xs;
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs;
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Options>
RowMatrixXs;
typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x;
typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
typedef Eigen::Matrix<Scalar, 6, 10, Options> BodyRegressorType;
typedef ModelTpl<Scalar, Options> Model;
typedef DataTpl<Scalar, Options> Data;
typedef CoulombFrictionConeTpl<Scalar> CoulombFrictionCone;
typedef DualCoulombFrictionConeTpl<Scalar> DualCoulombFrictionCone;
typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel;
typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData;
typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(CoulombFrictionCone)
CoulombFrictionConeVector;
typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(DualCoulombFrictionCone)
DualCoulombFrictionConeVector;
typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel)
RigidConstraintModelVector;
typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData)
RigidConstraintDataVector;
typedef MotionTpl<Scalar, Options> Motion;
typedef ForceTpl<Scalar, Options> Force;
} // namespace context
// Read and write
template<typename Derived>
Eigen::Ref<typename Derived::PlainObject> make_ref(const Eigen::MatrixBase<Derived> & x)
{
return Eigen::Ref<typename Derived::PlainObject>(x.const_cast_derived());
}
// Read-only
template<typename M>
auto make_const_ref(Eigen::MatrixBase<M> const & m) -> Eigen::Ref<typename M::PlainObject const>
{
return m;
}
} // namespace pinocchio
#endif // #ifndef __pinocchio_context_generic_hpp__