joint-collection.hpp
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1 //
2 // Copyright (c) 2018-2019 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_multibody_joint_collection_hpp__
6 #define __pinocchio_multibody_joint_collection_hpp__
7 
10 
11 #include <boost/variant.hpp>
12 #include <boost/variant/recursive_wrapper.hpp>
13 
14 namespace pinocchio
15 {
16 
17  template<typename _Scalar, int _Options>
18  struct JointCollectionDefaultTpl
19  {
20  typedef _Scalar Scalar;
21  enum
22  {
23  Options = _Options
24  };
25 
26  // Joint Revolute
30 
34 
35  // Joint Revolute Unaligned
37 
38  // Joint Revolute UBounded
42 
43  // Joint Revolute Unbounded Unaligned
46 
47  // Joint Prismatic
51 
52  // Joint Prismatic Unaligned
54 
55  // Joint Spherical
57 
58  // Joint Spherical ZYX
60 
61  // Joint Translation
63 
64  // Joint FreeFlyer
66 
67  // Joint Planar
69 
70  // Joint Composite
73 
74  // Joint Helical
78 
79  // Joint Helical Unaligned
81 
82  // Joint Universal
84 
85  typedef boost::variant<
86  // JointModelVoid,
100  JointModelPZ,
107  JointModelHx,
108  JointModelHy,
109  JointModelHz,
112  boost::recursive_wrapper<JointModelComposite>>
114 
115  // Joint Revolute
119 
123 
124  // Joint Revolute Unaligned
126 
127  // Joint Revolute Unaligned
130 
131  // Joint Revolute UBounded
135 
136  // Joint Prismatic
140 
141  // Joint Prismatic Unaligned
143 
144  // Joint Spherical
146 
147  // Joint Spherical ZYX
149 
150  // Joint Translation
152 
153  // Joint FreeFlyer
155 
156  // Joint Planar
158 
159  // Joint Composite
162 
163  // Joint Helical
167 
168  // Joint Helical Unaligned
170 
171  // Joint Universal
173 
174  typedef boost::variant<
175  // JointDataVoid
176  JointDataRX,
177  JointDataRY,
178  JointDataRZ,
187  JointDataPX,
188  JointDataPY,
189  JointDataPZ,
196  JointDataHx,
197  JointDataHy,
198  JointDataHz,
201  boost::recursive_wrapper<JointDataComposite>>
203  };
204 
207 
208 } // namespace pinocchio
209 
210 #endif // ifndef __pinocchio_multibody_joint_collection_hpp__
pinocchio::JointCollectionDefaultTpl::JointModelRevoluteUnboundedUnaligned
JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > JointModelRevoluteUnboundedUnaligned
Definition: joint-collection.hpp:45
pinocchio::JointModelUniversalTpl
Definition: multibody/joint/fwd.hpp:102
pinocchio::JointCollectionDefaultTpl::JointModelTranslation
JointModelTranslationTpl< Scalar, Options > JointModelTranslation
Definition: joint-collection.hpp:62
pinocchio::JointCollectionDefaultTpl::JointDataRUBY
JointDataRevoluteUnboundedTpl< Scalar, Options, 1 > JointDataRUBY
Definition: joint-collection.hpp:133
pinocchio::JointCollectionDefaultTpl::Options
@ Options
Definition: joint-collection.hpp:23
pinocchio::JointCollectionDefaultTpl::JointModelPZ
JointModelPrismaticTpl< Scalar, Options, 2 > JointModelPZ
Definition: joint-collection.hpp:50
pinocchio::JointCollectionDefaultTpl::JointDataRevoluteUnaligned
JointDataRevoluteUnalignedTpl< Scalar, Options > JointDataRevoluteUnaligned
Definition: joint-collection.hpp:125
pinocchio::JointModelRevoluteUnboundedUnalignedTpl
Definition: multibody/joint/fwd.hpp:46
pinocchio::JointCollectionDefaultTpl::JointDataComposite
JointDataCompositeTpl< Scalar, Options, ::pinocchio::JointCollectionDefaultTpl > JointDataComposite
Definition: joint-collection.hpp:161
pinocchio::JointCollectionDefaultTpl::JointModelHelicalUnaligned
JointModelHelicalUnalignedTpl< Scalar, Options > JointModelHelicalUnaligned
Definition: joint-collection.hpp:80
pinocchio::JointDataFreeFlyerTpl
Definition: multibody/joint/fwd.hpp:114
pinocchio::JointModelHelicalTpl
Definition: multibody/joint/fwd.hpp:60
pinocchio::JointModelMimic
Definition: joint-mimic.hpp:307
pinocchio::JointDataRevoluteUnalignedTpl
Definition: multibody/joint/fwd.hpp:42
pinocchio::JointModelPlanarTpl
Definition: multibody/joint/fwd.hpp:118
pinocchio::JointCollectionDefaultTpl::JointModelSpherical
JointModelSphericalTpl< Scalar, Options > JointModelSpherical
Definition: joint-collection.hpp:56
pinocchio::JointCollectionDefaultTpl::JointModelMimicRY
JointModelMimic< JointModelRY > JointModelMimicRY
Definition: joint-collection.hpp:32
pinocchio::JointCollectionDefaultTpl::JointModelPrismaticUnaligned
JointModelPrismaticUnalignedTpl< Scalar, Options > JointModelPrismaticUnaligned
Definition: joint-collection.hpp:53
pinocchio::JointDataPrismaticTpl
Definition: multibody/joint/fwd.hpp:91
pinocchio::JointCollectionDefaultTpl::JointDataPrismaticUnaligned
JointDataPrismaticUnalignedTpl< Scalar, Options > JointDataPrismaticUnaligned
Definition: joint-collection.hpp:142
pinocchio::JointCollectionDefaultTpl::JointModelPX
JointModelPrismaticTpl< Scalar, Options, 0 > JointModelPX
Definition: joint-collection.hpp:48
pinocchio::JointCollectionDefaultTpl::JointDataMimicRX
JointDataMimic< JointDataRX > JointDataMimicRX
Definition: joint-collection.hpp:120
pinocchio::JointCollectionDefaultTpl::JointDataRX
JointDataRevoluteTpl< Scalar, Options, 0 > JointDataRX
Definition: joint-collection.hpp:116
pinocchio::JointCollectionDefaultTpl::JointDataPX
JointDataPrismaticTpl< Scalar, Options, 0 > JointDataPX
Definition: joint-collection.hpp:137
pinocchio::JointDataHelicalUnalignedTpl
Definition: multibody/joint/fwd.hpp:69
pinocchio::JointDataMimic
Definition: joint-mimic.hpp:309
pinocchio::JointDataHelicalTpl
Definition: multibody/joint/fwd.hpp:62
pinocchio::JointCollectionDefaultTpl::JointDataVariant
boost::variant< JointDataRX, JointDataRY, JointDataRZ, JointDataMimicRX, JointDataMimicRY, JointDataMimicRZ, JointDataFreeFlyer, JointDataPlanar, JointDataRevoluteUnaligned, JointDataSpherical, JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataTranslation, JointDataRUBX, JointDataRUBY, JointDataRUBZ, JointDataRevoluteUnboundedUnaligned, JointDataHx, JointDataHy, JointDataHz, JointDataHelicalUnaligned, JointDataUniversal, boost::recursive_wrapper< JointDataComposite > > JointDataVariant
Definition: joint-collection.hpp:202
pinocchio::JointModelTranslationTpl
Definition: multibody/joint/fwd.hpp:126
pinocchio::JointModelFreeFlyerTpl
Definition: multibody/joint/fwd.hpp:110
pinocchio::JointCollectionDefaultTpl::JointModelRevoluteUnaligned
JointModelRevoluteUnalignedTpl< Scalar, Options > JointModelRevoluteUnaligned
Definition: joint-collection.hpp:36
pinocchio::JointCollectionDefaultTpl::JointModelPlanar
JointModelPlanarTpl< Scalar, Options > JointModelPlanar
Definition: joint-collection.hpp:68
pinocchio::JointCollectionDefaultTpl::JointDataHz
JointDataHelicalTpl< Scalar, Options, 2 > JointDataHz
Definition: joint-collection.hpp:166
pinocchio::JointDataPlanarTpl
Definition: multibody/joint/fwd.hpp:122
pinocchio::JointCollectionDefaultTpl::JointModelComposite
JointModelCompositeTpl< Scalar, Options, ::pinocchio::JointCollectionDefaultTpl > JointModelComposite
Definition: joint-collection.hpp:72
pinocchio::JointCollectionDefaultTpl::JointDataPZ
JointDataPrismaticTpl< Scalar, Options, 2 > JointDataPZ
Definition: joint-collection.hpp:139
pinocchio::JointDataTranslationTpl
Definition: multibody/joint/fwd.hpp:130
pinocchio::JointCollectionDefaultTpl::JointDataSphericalZYX
JointDataSphericalZYXTpl< Scalar, Options > JointDataSphericalZYX
Definition: joint-collection.hpp:148
pinocchio::JointCollectionDefaultTpl::JointModelSphericalZYX
JointModelSphericalZYXTpl< Scalar, Options > JointModelSphericalZYX
Definition: joint-collection.hpp:59
pinocchio::JointModelPrismaticTpl
Definition: multibody/joint/fwd.hpp:89
pinocchio::JointCollectionDefaultTpl::JointModelFreeFlyer
JointModelFreeFlyerTpl< Scalar, Options > JointModelFreeFlyer
Definition: joint-collection.hpp:65
pinocchio::JointCollectionDefaultTpl::JointDataHelicalUnaligned
JointDataHelicalUnalignedTpl< Scalar, Options > JointDataHelicalUnaligned
Definition: joint-collection.hpp:169
pinocchio::JointCollectionDefaultTpl::JointModelUniversal
JointModelUniversalTpl< Scalar, Options > JointModelUniversal
Definition: joint-collection.hpp:83
pinocchio::JointCollectionDefaultTpl::JointModelRUBX
JointModelRevoluteUnboundedTpl< Scalar, Options, 0 > JointModelRUBX
Definition: joint-collection.hpp:39
pinocchio::JointCollectionDefaultTpl::JointDataRY
JointDataRevoluteTpl< Scalar, Options, 1 > JointDataRY
Definition: joint-collection.hpp:117
pinocchio::JointCollectionDefaultTpl::JointDataRUBZ
JointDataRevoluteUnboundedTpl< Scalar, Options, 2 > JointDataRUBZ
Definition: joint-collection.hpp:134
pinocchio::JointCollectionDefaultTpl::JointDataMimicRY
JointDataMimic< JointDataRY > JointDataMimicRY
Definition: joint-collection.hpp:121
pinocchio::JointModelVariant
JointCollectionDefault::JointModelVariant JointModelVariant
Definition: joint-collection.hpp:205
pinocchio::JointCollectionDefaultTpl::JointModelHy
JointModelHelicalTpl< Scalar, Options, 1 > JointModelHy
Definition: joint-collection.hpp:76
pinocchio::JointDataRevoluteTpl
Definition: multibody/joint/fwd.hpp:35
pinocchio::JointCollectionDefaultTpl::JointModelRUBY
JointModelRevoluteUnboundedTpl< Scalar, Options, 1 > JointModelRUBY
Definition: joint-collection.hpp:40
pinocchio::JointCollectionDefaultTpl::JointDataFreeFlyer
JointDataFreeFlyerTpl< Scalar, Options > JointDataFreeFlyer
Definition: joint-collection.hpp:154
pinocchio::JointCollectionDefaultTpl::JointDataRUBX
JointDataRevoluteUnboundedTpl< Scalar, Options, 0 > JointDataRUBX
Definition: joint-collection.hpp:132
pinocchio::JointCollectionDefaultTpl::JointModelMimicRZ
JointModelMimic< JointModelRZ > JointModelMimicRZ
Definition: joint-collection.hpp:33
pinocchio::JointModelHelicalUnalignedTpl
Definition: multibody/joint/fwd.hpp:65
pinocchio::JointCollectionDefaultTpl::JointModelRZ
JointModelRevoluteTpl< Scalar, Options, 2 > JointModelRZ
Definition: joint-collection.hpp:29
pinocchio::JointCollectionDefaultTpl::Scalar
_Scalar Scalar
Definition: joint-collection.hpp:20
pinocchio::JointModelSphericalTpl
Definition: multibody/joint/fwd.hpp:73
pinocchio::JointCollectionDefaultTpl::JointDataHx
JointDataHelicalTpl< Scalar, Options, 0 > JointDataHx
Definition: joint-collection.hpp:164
pinocchio::JointDataSphericalTpl
Definition: multibody/joint/fwd.hpp:77
pinocchio::JointCollectionDefaultTpl::JointModelRY
JointModelRevoluteTpl< Scalar, Options, 1 > JointModelRY
Definition: joint-collection.hpp:28
pinocchio::JointModelRevoluteTpl
Definition: multibody/joint/fwd.hpp:33
pinocchio::JointCollectionDefaultTpl::JointDataUniversal
JointDataUniversalTpl< Scalar, Options > JointDataUniversal
Definition: joint-collection.hpp:172
pinocchio::JointDataSphericalZYXTpl
Definition: multibody/joint/fwd.hpp:85
pinocchio::JointCollectionDefaultTpl::JointModelHx
JointModelHelicalTpl< Scalar, Options, 0 > JointModelHx
Definition: joint-collection.hpp:75
pinocchio::JointCollectionDefaultTpl::JointModelHz
JointModelHelicalTpl< Scalar, Options, 2 > JointModelHz
Definition: joint-collection.hpp:77
pinocchio::JointCollectionDefaultTpl::JointDataPlanar
JointDataPlanarTpl< Scalar, Options > JointDataPlanar
Definition: joint-collection.hpp:157
pinocchio::JointCollectionDefaultTpl::JointDataHy
JointDataHelicalTpl< Scalar, Options, 1 > JointDataHy
Definition: joint-collection.hpp:165
pinocchio::JointCollectionDefaultTpl::JointDataRevoluteUnboundedUnaligned
JointDataRevoluteUnboundedUnalignedTpl< Scalar, Options > JointDataRevoluteUnboundedUnaligned
Definition: joint-collection.hpp:129
pinocchio::JointCollectionDefaultTpl::JointDataRZ
JointDataRevoluteTpl< Scalar, Options, 2 > JointDataRZ
Definition: joint-collection.hpp:118
pinocchio::JointModelRevoluteUnalignedTpl
Definition: multibody/joint/fwd.hpp:38
pinocchio::JointModelPrismaticUnalignedTpl
Definition: multibody/joint/fwd.hpp:94
pinocchio::JointModelCompositeTpl
Definition: multibody/joint/fwd.hpp:141
pinocchio::JointCollectionDefaultTpl::JointModelPY
JointModelPrismaticTpl< Scalar, Options, 1 > JointModelPY
Definition: joint-collection.hpp:49
pinocchio::JointCollectionDefaultTpl::JointDataPY
JointDataPrismaticTpl< Scalar, Options, 1 > JointDataPY
Definition: joint-collection.hpp:138
pinocchio::JointCollectionDefaultTpl::JointModelRUBZ
JointModelRevoluteUnboundedTpl< Scalar, Options, 2 > JointModelRUBZ
Definition: joint-collection.hpp:41
pinocchio::JointModelSphericalZYXTpl
Definition: multibody/joint/fwd.hpp:81
pinocchio::JointDataRevoluteUnboundedUnalignedTpl
Definition: multibody/joint/fwd.hpp:50
pinocchio::JointDataCompositeTpl
Definition: multibody/joint/fwd.hpp:148
fwd.hpp
pinocchio::JointCollectionDefaultTpl::JointDataMimicRZ
JointDataMimic< JointDataRZ > JointDataMimicRZ
Definition: joint-collection.hpp:122
joints.hpp
pinocchio::JointDataVariant
JointCollectionDefault::JointDataVariant JointDataVariant
Definition: joint-collection.hpp:206
pinocchio::JointDataUniversalTpl
Definition: multibody/joint/fwd.hpp:106
pinocchio::JointCollectionDefaultTpl::JointModelRX
JointModelRevoluteTpl< Scalar, Options, 0 > JointModelRX
Definition: joint-collection.hpp:27
pinocchio::JointCollectionDefaultTpl::JointModelMimicRX
JointModelMimic< JointModelRX > JointModelMimicRX
Definition: joint-collection.hpp:31
pinocchio::JointCollectionDefaultTpl::JointDataSpherical
JointDataSphericalTpl< Scalar, Options > JointDataSpherical
Definition: joint-collection.hpp:145
pinocchio::JointDataPrismaticUnalignedTpl
Definition: multibody/joint/fwd.hpp:98
pinocchio::JointModelRevoluteUnboundedTpl
Definition: multibody/joint/fwd.hpp:55
pinocchio::JointCollectionDefaultTpl::JointModelVariant
boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelMimicRX, JointModelMimicRY, JointModelMimicRZ, JointModelFreeFlyer, JointModelPlanar, JointModelRevoluteUnaligned, JointModelSpherical, JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelTranslation, JointModelRUBX, JointModelRUBY, JointModelRUBZ, JointModelRevoluteUnboundedUnaligned, JointModelHx, JointModelHy, JointModelHz, JointModelHelicalUnaligned, JointModelUniversal, boost::recursive_wrapper< JointModelComposite > > JointModelVariant
Definition: joint-collection.hpp:113
pinocchio::JointCollectionDefaultTpl::JointDataTranslation
JointDataTranslationTpl< Scalar, Options > JointDataTranslation
Definition: joint-collection.hpp:151
pinocchio::JointDataRevoluteUnboundedTpl
Definition: multibody/joint/fwd.hpp:57
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27


pinocchio
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autogenerated on Sun Dec 22 2024 03:41:10