generic.hpp

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

#pragma once

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

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

#include <eigenpy/eigen-typedef.hpp>

namespace pinocchio
{
 namespace python
 {

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

 namespace context
 {

 typedef PINOCCHIO_PYTHON_SCALAR_TYPE Scalar;
 static constexpr int 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::Matrix<Scalar, 6, 6, Options> Matrix6s;
 typedef Eigen::Matrix<Scalar, 3, 6, Options> Matrix36s;
 typedef Eigen::Quaternion<Scalar, Options> Quaternion;
 typedef Eigen::AngleAxis<Scalar> AngleAxis;
 typedef Eigen::Ref<VectorXs> RefVectorXs;
 typedef Eigen::Ref<MatrixXs> RefMatrixXs;
 typedef Eigen::Ref<const VectorXs> RefConstVectorXs;
 typedef Eigen::Ref<const MatrixXs> RefConstMatrixXs;

 // 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 ConstraintCholeskyDecompositionTpl<Scalar, Options> ConstraintCholeskyDecomposition;

 typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel;
 typedef std::vector<RigidConstraintModel> RigidConstraintModelVector;

 typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData;
 typedef std::vector<RigidConstraintData> RigidConstraintDataVector;

 typedef PointAnchorConstraintModelTpl<Scalar, Options> PointAnchorConstraintModel;
 typedef std::vector<PointAnchorConstraintModel> PointAnchorConstraintModelVector;
 typedef PointAnchorConstraintDataTpl<Scalar, Options> PointAnchorConstraintData;
 typedef std::vector<PointAnchorConstraintData> PointAnchorConstraintDataVector;

 typedef FrameAnchorConstraintModelTpl<Scalar, Options> FrameAnchorConstraintModel;
 typedef std::vector<FrameAnchorConstraintModel> FrameAnchorConstraintModelVector;
 typedef FrameAnchorConstraintDataTpl<Scalar, Options> FrameAnchorConstraintData;
 typedef std::vector<FrameAnchorConstraintData> FrameAnchorConstraintDataVector;

 typedef PointContactConstraintModelTpl<Scalar, Options> PointContactConstraintModel;
 typedef std::vector<PointContactConstraintModel> PointContactConstraintModelVector;
 typedef PointContactConstraintDataTpl<Scalar, Options> PointContactConstraintData;
 typedef std::vector<PointContactConstraintData> PointContactConstraintDataVector;

 typedef JointFrictionConstraintModelTpl<Scalar, Options> JointFrictionConstraintModel;
 typedef std::vector<JointFrictionConstraintModel> JointFrictionConstraintModelVector;
 typedef JointFrictionConstraintDataTpl<Scalar, Options> JointFrictionConstraintData;
 typedef std::vector<JointFrictionConstraintData> JointFrictionConstraintDataVector;

 typedef JointLimitConstraintModelTpl<Scalar, Options> JointLimitConstraintModel;
 typedef std::vector<JointLimitConstraintModel> JointLimitModelVector;
 typedef JointLimitConstraintDataTpl<Scalar, Options> JointLimitConstraintData;
 typedef std::vector<JointLimitConstraintData> JointLimitDataVector;

 typedef ConstraintModelTpl<Scalar, Options> ConstraintModel;
 typedef std::vector<ConstraintModel> ConstraintModelVector;
 typedef ConstraintDataTpl<Scalar, Options> ConstraintData;
 typedef std::vector<ConstraintData> ConstraintDataVector;

 typedef CoulombFrictionConeTpl<context::Scalar> CoulombFrictionCone;
 typedef std::vector<CoulombFrictionCone> CoulombFrictionConeVector;
 typedef DualCoulombFrictionConeTpl<context::Scalar> DualCoulombFrictionCone;
 typedef std::vector<DualCoulombFrictionCone> DualCoulombFrictionConeVector;
 typedef BoxSetTpl<context::Scalar> BoxSet;
 typedef ZeroConeTpl<context::Scalar> ZeroCone;
 typedef FullSpaceConeTpl<context::Scalar> FullSpaceCone;
 typedef NonNegativeOrthantConeTpl<context::Scalar> NonNegativeOrthantCone;

 typedef ConstraintCollectionDefaultTpl<Scalar, Options> ConstraintCollectionDefault;

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

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

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

#endif

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