Program Listing for File fwd.hpp

Return to documentation for file (include/pinocchio/multibody/fwd.hpp)

//
// 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__