generic.hpp

//
// Copyright (c) 2021-2024 INRIA
//

#ifndef __pinocchio_python_context_generic_hpp__
#define __pinocchio_python_context_generic_hpp__

#include "pinocchio/fwd.hpp"
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/algorithm/fwd.hpp"
#include "pinocchio/algorithm/constraints/fwd.hpp"

#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP
 #include "pinocchio/multibody/pool/fwd.hpp"
 #ifdef PINOCCHIO_WITH_HPP_FCL
 #include "pinocchio/collision/pool/fwd.hpp"
 #endif
#endif

#include <eigenpy/eigen-typedef.hpp>

#include <Eigen/Sparse>

namespace pinocchio
{
 namespace python
 {

 // Forward declaration
 boost::python::object getScalarType();
 void exposeSpecificTypeFeatures();

 namespace context
 {

 typedef PINOCCHIO_PYTHON_SCALAR_TYPE Scalar;
 enum
 {
 Options = 0
 };

 // Eigen
 EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Scalar, Options, s);
 typedef Eigen::SparseMatrix<Scalar> SparseMatrix;
 typedef Eigen::SparseMatrix<Scalar, Eigen::RowMajor> RowSparseMatrix;
 typedef Eigen::Matrix<Scalar, 1, 1, Options, 1, 1> Matrix1s;
 typedef Eigen::Matrix<Scalar, 7, 1, Options> Vector7s;
 typedef Eigen::Quaternion<Scalar, Options> Quaternion;
 typedef Eigen::AngleAxis<Scalar> AngleAxis;

 // Spatial
 typedef SE3Tpl<Scalar, Options> SE3;
 typedef MotionTpl<Scalar, Options> Motion;
 typedef ForceTpl<Scalar, Options> Force;
 typedef InertiaTpl<Scalar, Options> Inertia;
 typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia;
 typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters;
 typedef Symmetric3Tpl<Scalar, Options> Symmetric3;

 // Multibody
 typedef FrameTpl<Scalar, Options> Frame;
 typedef ModelTpl<Scalar, Options> Model;
 typedef DataTpl<Scalar, Options> Data;

 typedef JointCollectionDefaultTpl<Scalar, Options> JointCollectionDefault;

 // Joints
 typedef JointModelTpl<Scalar, Options> JointModel;
 typedef JointDataTpl<Scalar, Options> JointData;

 typedef JointDataRevoluteTpl<Scalar, Options, 0> JointDataRX;
 typedef JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;

 typedef JointDataRevoluteTpl<Scalar, Options, 1> JointDataRY;
 typedef JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY;

 typedef JointDataRevoluteTpl<Scalar, Options, 2> JointDataRZ;
 typedef JointModelRevoluteTpl<Scalar, Options, 2> JointModelRZ;

 typedef JointModelRevoluteUnalignedTpl<Scalar> JointModelRevoluteUnaligned;
 typedef JointDataRevoluteUnalignedTpl<Scalar> JointDataRevoluteUnaligned;

 typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 0> JointDataRUBX;
 typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 0> JointModelRUBX;

 typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 1> JointDataRUBY;
 typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 1> JointModelRUBY;

 typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 2> JointDataRUBZ;
 typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 2> JointModelRUBZ;

 typedef JointModelRevoluteUnboundedUnalignedTpl<Scalar> JointModelRevoluteUnboundedUnaligned;
 typedef JointDataRevoluteUnboundedUnalignedTpl<Scalar> JointDataRevoluteUnboundedUnaligned;

 typedef JointModelSphericalTpl<Scalar> JointModelSpherical;
 typedef JointDataSphericalTpl<Scalar> JointDataSpherical;

 typedef JointModelSphericalZYXTpl<Scalar> JointModelSphericalZYX;
 typedef JointDataSphericalZYXTpl<Scalar> JointDataSphericalZYX;

 typedef JointModelEllipsoidTpl<Scalar, Options> JointModelEllipsoid;
 typedef JointDataEllipsoidTpl<Scalar, Options> JointDataEllipsoid;

 typedef JointDataPrismaticTpl<Scalar, Options, 0> JointDataPX;
 typedef JointModelPrismaticTpl<Scalar, Options, 0> JointModelPX;

 typedef JointDataPrismaticTpl<Scalar, Options, 1> JointDataPY;
 typedef JointModelPrismaticTpl<Scalar, Options, 1> JointModelPY;

 typedef JointDataPrismaticTpl<Scalar, Options, 2> JointDataPZ;
 typedef JointModelPrismaticTpl<Scalar, Options, 2> JointModelPZ;

 typedef JointModelPrismaticUnalignedTpl<Scalar> JointModelPrismaticUnaligned;
 typedef JointDataPrismaticUnalignedTpl<Scalar> JointDataPrismaticUnaligned;

 typedef JointDataHelicalTpl<Scalar, Options, 0> JointDataHX;
 typedef JointModelHelicalTpl<Scalar, Options, 0> JointModelHX;

 typedef JointDataHelicalTpl<Scalar, Options, 1> JointDataHY;
 typedef JointModelHelicalTpl<Scalar, Options, 1> JointModelHY;

 typedef JointDataHelicalTpl<Scalar, Options, 2> JointDataHZ;
 typedef JointModelHelicalTpl<Scalar, Options, 2> JointModelHZ;

 typedef JointModelHelicalUnalignedTpl<Scalar> JointModelHelicalUnaligned;
 typedef JointDataHelicalUnalignedTpl<Scalar> JointDataHelicalUnaligned;

 typedef JointModelFreeFlyerTpl<Scalar> JointModelFreeFlyer;
 typedef JointDataFreeFlyerTpl<Scalar> JointDataFreeFlyer;

 typedef JointModelPlanarTpl<Scalar> JointModelPlanar;
 typedef JointDataPlanarTpl<Scalar> JointDataPlanar;

 typedef JointModelUniversalTpl<Scalar> JointModelUniversal;
 typedef JointDataUniversalTpl<Scalar> JointDataUniversal;

 typedef JointModelTranslationTpl<Scalar> JointModelTranslation;
 typedef JointDataTranslationTpl<Scalar> JointDataTranslation;

 typedef JointModelCompositeTpl<Scalar> JointModelComposite;
 typedef JointDataCompositeTpl<Scalar> JointDataComposite;

 typedef JointModelMimicTpl<Scalar> JointModelMimic;
 typedef JointDataMimicTpl<Scalar> JointDataMimic;

 // Algorithm
 typedef ProximalSettingsTpl<Scalar> ProximalSettings;
 typedef ContactCholeskyDecompositionTpl<Scalar, Options> ContactCholeskyDecomposition;

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

 typedef CoulombFrictionConeTpl<context::Scalar> CoulombFrictionCone;
 typedef DualCoulombFrictionConeTpl<context::Scalar> DualCoulombFrictionCone;

 typedef DelassusOperatorDenseTpl<Scalar, Options> DelassusOperatorDense;
 typedef DelassusOperatorSparseTpl<Scalar, Options> DelassusOperatorSparse;

 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;

// Pool
#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP
 typedef ModelPoolTpl<Scalar> ModelPool;

 #ifdef PINOCCHIO_WITH_HPP_FCL
 typedef GeometryPoolTpl<Scalar> GeometryPool;
 #endif

#endif

 } // namespace context
 } // namespace python
} // namespace pinocchio

#endif // #ifndef __pinocchio_python_context_generic_hpp__