generic.hpp

//
// Copyright (c) 2022-2025 INRIA
//

#ifndef __pinocchio_context_generic_hpp__
#define __pinocchio_context_generic_hpp__

#include <Eigen/Core>
#include "pinocchio/container/aligned-vector.hpp"

namespace pinocchio
{

 template<typename _Scalar, int _Options>
 struct JointCollectionDefaultTpl;
 template<
 typename _Scalar,
 int _Options = PINOCCHIO_OPTIONS_DEFAULT,
 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
 struct ModelTpl;
 template<
 typename _Scalar,
 int _Options = PINOCCHIO_OPTIONS_DEFAULT,
 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
 struct DataTpl;
 template<typename _Scalar, int _Options = PINOCCHIO_OPTIONS_DEFAULT>
 struct SE3Tpl;
 template<typename _Scalar, int _Options = PINOCCHIO_OPTIONS_DEFAULT>
 class MotionTpl;
 template<typename _Scalar, int _Options = PINOCCHIO_OPTIONS_DEFAULT>
 class ForceTpl;
 template<typename _Scalar, int _Options = PINOCCHIO_OPTIONS_DEFAULT>
 struct InertiaTpl;
 template<typename _Scalar, int _Options>
 struct RigidConstraintModelTpl;
 template<typename _Scalar, int _Options>
 struct RigidConstraintDataTpl;

 template<typename _Scalar>
 struct CoulombFrictionConeTpl;
 template<typename _Scalar>
 struct DualCoulombFrictionConeTpl;

#define PINOCCHIO_COMMON_TYPEDEF(Scalar, Options) \
 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs; \
 typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6xs; \
 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs; \
 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor | Options> \
 RowMatrixXs; \
 typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x; \
 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3; \
 typedef Eigen::Matrix<Scalar, 6, 10, Options> BodyRegressorType; \
 \
 typedef ModelTpl<Scalar, Options> Model; \
 typedef DataTpl<Scalar, Options> Data; \
 \
 typedef CoulombFrictionConeTpl<Scalar> CoulombFrictionCone; \
 typedef DualCoulombFrictionConeTpl<Scalar> DualCoulombFrictionCone; \
 \
 typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel; \
 typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData; \
 \
 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; \
 \
 typedef SE3Tpl<Scalar, Options> SE3; \
 typedef MotionTpl<Scalar, Options> Motion; \
 typedef ForceTpl<Scalar, Options> Force; \
 typedef InertiaTpl<Scalar, Options> Inertia;

 namespace context
 {
 typedef PINOCCHIO_SCALAR_TYPE Scalar;
 enum
 {
 Options = PINOCCHIO_OPTIONS_DEFAULT
 };

 PINOCCHIO_COMMON_TYPEDEF(Scalar, Options)

 } // namespace context

 // Read and write
 template<typename Derived>
 Eigen::Ref<typename Derived::PlainObject> make_ref(const Eigen::MatrixBase<Derived> & x)
 {
 return Eigen::Ref<typename Derived::PlainObject>(x.const_cast_derived());
 }

 // Read-only
 template<typename M>
 auto make_const_ref(Eigen::MatrixBase<M> const & m) -> Eigen::Ref<typename M::PlainObject const>
 {
 return m;
 }

} // namespace pinocchio

#endif // #ifndef __pinocchio_context_generic_hpp__