Program Listing for File fwd.hpp
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//
// Copyright (c) 2017-2020 CNRS INRIA
//
#ifndef __pinocchio_multibody_fwd_hpp__
#define __pinocchio_multibody_fwd_hpp__
#include "pinocchio/fwd.hpp"
#include "pinocchio/multibody/joint/fwd.hpp"
namespace pinocchio
{
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
template<typename Scalar, int Options = context::Options>
struct FrameTpl;
PINOCCHIO_COMPILER_DIAGNOSTIC_POP
typedef std::size_t Index;
typedef Index JointIndex;
typedef Index GeomIndex;
typedef Index FrameIndex;
typedef Index PairIndex;
typedef FrameTpl<context::Scalar, context::Options> Frame;
typedef ModelTpl<context::Scalar, context::Options> Model;
typedef DataTpl<context::Scalar, context::Options> Data;
struct GeometryModel;
struct GeometryData;
enum ReferenceFrame
{
WORLD = 0,
LOCAL = 1,
LOCAL_WORLD_ALIGNED = 2
};
enum KinematicLevel
{
POSITION = 0,
VELOCITY = 1,
ACCELERATION = 2
};
enum struct Convention
{
WORLD = 0,
LOCAL = 1,
};
// end of group multibody
// Forward declaration needed for Model::check
template<class D>
struct AlgorithmCheckerBase;
} // namespace pinocchio
#endif // #ifndef __pinocchio_multibody_fwd_hpp__