fwd.hpp

//
// Copyright (c) 2022-2023 INRIA
//

#ifndef __pinocchio_algorithm_constraints_fwd_hpp__
#define __pinocchio_algorithm_constraints_fwd_hpp__

#include "pinocchio/algorithm/fwd.hpp"
#include <boost/variant.hpp>

namespace pinocchio
{
 template<typename Scalar, int Options = 0>
 struct RigidConstraintModelTpl;
 template<typename Scalar, int Options = 0>
 struct RigidConstraintDataTpl;

 template<typename _Scalar, int _Options>
 struct ConstraintCollectionTpl
 {
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };

 typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel;
 typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData;

 typedef boost::variant<RigidConstraintModel> ConstraintModelVariant;
 typedef boost::variant<RigidConstraintData> ConstraintDataVariant;
 };

 typedef ConstraintCollectionTpl<context::Scalar, context::Options> ConstraintCollection;

 template<typename Scalar, int _Options, template<typename S, int O> class ConstraintCollectionTpl>
 struct ConstraintModelTpl;
 typedef ConstraintModelTpl<context::Scalar, context::Options, ConstraintCollectionTpl>
 ConstraintModel;

 template<typename Scalar, int _Options, template<typename S, int O> class ConstraintCollectionTpl>
 struct ConstraintDataTpl;
 typedef ConstraintDataTpl<context::Scalar, context::Options, ConstraintCollectionTpl>
 ConstraintData;

 template<typename Scalar>
 struct CoulombFrictionConeTpl;
 typedef CoulombFrictionConeTpl<context::Scalar> CoulombFrictionCone;

 template<typename Scalar>
 struct DualCoulombFrictionConeTpl;
 typedef DualCoulombFrictionConeTpl<context::Scalar> DualCoulombFrictionCone;
} // namespace pinocchio

#endif // ifndef __pinocchio_algorithm_constraints_fwd_hpp__