joint-collection.hpp

//
// Copyright (c) 2018-2019 CNRS INRIA
//

#ifndef __pinocchio_multibody_joint_collection_hpp__
#define __pinocchio_multibody_joint_collection_hpp__

#include "pinocchio/multibody/joint/fwd.hpp"
#include "pinocchio/multibody/joint/joints.hpp"

#include <boost/variant.hpp>
#include <boost/variant/recursive_wrapper.hpp>

namespace pinocchio
{

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

 // Joint Revolute
 typedef JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX;
 typedef JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY;
 typedef JointModelRevoluteTpl<Scalar, Options, 2> JointModelRZ;

 // Joint Revolute Unaligned
 typedef JointModelRevoluteUnalignedTpl<Scalar, Options> JointModelRevoluteUnaligned;

 // Joint Revolute UBounded
 typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 0> JointModelRUBX;
 typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 1> JointModelRUBY;
 typedef JointModelRevoluteUnboundedTpl<Scalar, Options, 2> JointModelRUBZ;

 // Joint Revolute Unbounded Unaligned
 typedef JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>
 JointModelRevoluteUnboundedUnaligned;

 // Joint Prismatic
 typedef JointModelPrismaticTpl<Scalar, Options, 0> JointModelPX;
 typedef JointModelPrismaticTpl<Scalar, Options, 1> JointModelPY;
 typedef JointModelPrismaticTpl<Scalar, Options, 2> JointModelPZ;

 // Joint Prismatic Unaligned
 typedef JointModelPrismaticUnalignedTpl<Scalar, Options> JointModelPrismaticUnaligned;

 // Joint Spherical
 typedef JointModelSphericalTpl<Scalar, Options> JointModelSpherical;

 // Joint Spherical ZYX
 typedef JointModelSphericalZYXTpl<Scalar, Options> JointModelSphericalZYX;

 // Joint Ellipsoid
 typedef JointModelEllipsoidTpl<Scalar, Options> JointModelEllipsoid;

 // Joint Translation
 typedef JointModelTranslationTpl<Scalar, Options> JointModelTranslation;

 // Joint FreeFlyer
 typedef JointModelFreeFlyerTpl<Scalar, Options> JointModelFreeFlyer;

 // Joint Planar
 typedef JointModelPlanarTpl<Scalar, Options> JointModelPlanar;

 // Joint Composite
 typedef JointModelCompositeTpl<Scalar, Options, ::pinocchio::JointCollectionDefaultTpl>
 JointModelComposite;

 // Joint Mimic
 typedef JointModelMimicTpl<Scalar, Options, ::pinocchio::JointCollectionDefaultTpl>
 JointModelMimic;

 // Joint Helical
 typedef JointModelHelicalTpl<Scalar, Options, 0> JointModelHx;
 typedef JointModelHelicalTpl<Scalar, Options, 1> JointModelHy;
 typedef JointModelHelicalTpl<Scalar, Options, 2> JointModelHz;

 // Joint Helical Unaligned
 typedef JointModelHelicalUnalignedTpl<Scalar, Options> JointModelHelicalUnaligned;

 // Joint Universal
 typedef JointModelUniversalTpl<Scalar, Options> JointModelUniversal;

 typedef boost::variant<
 // JointModelVoid,
 JointModelRX,
 JointModelRY,
 JointModelRZ,
 JointModelFreeFlyer,
 JointModelPlanar,
 JointModelRevoluteUnaligned,
 JointModelSpherical,
 JointModelSphericalZYX,
 JointModelEllipsoid,
 JointModelPX,
 JointModelPY,
 JointModelPZ,
 JointModelPrismaticUnaligned,
 JointModelTranslation,
 JointModelRUBX,
 JointModelRUBY,
 JointModelRUBZ,
 JointModelRevoluteUnboundedUnaligned,
 JointModelHx,
 JointModelHy,
 JointModelHz,
 JointModelHelicalUnaligned,
 JointModelUniversal,
 boost::recursive_wrapper<JointModelComposite>,
 boost::recursive_wrapper<JointModelMimic>>
 JointModelVariant;

 // Joint Revolute
 typedef JointDataRevoluteTpl<Scalar, Options, 0> JointDataRX;
 typedef JointDataRevoluteTpl<Scalar, Options, 1> JointDataRY;
 typedef JointDataRevoluteTpl<Scalar, Options, 2> JointDataRZ;

 // Joint Revolute Unaligned
 typedef JointDataRevoluteUnalignedTpl<Scalar, Options> JointDataRevoluteUnaligned;

 // Joint Revolute Unaligned
 typedef JointDataRevoluteUnboundedUnalignedTpl<Scalar, Options>
 JointDataRevoluteUnboundedUnaligned;

 // Joint Revolute UBounded
 typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 0> JointDataRUBX;
 typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 1> JointDataRUBY;
 typedef JointDataRevoluteUnboundedTpl<Scalar, Options, 2> JointDataRUBZ;

 // Joint Prismatic
 typedef JointDataPrismaticTpl<Scalar, Options, 0> JointDataPX;
 typedef JointDataPrismaticTpl<Scalar, Options, 1> JointDataPY;
 typedef JointDataPrismaticTpl<Scalar, Options, 2> JointDataPZ;

 // Joint Prismatic Unaligned
 typedef JointDataPrismaticUnalignedTpl<Scalar, Options> JointDataPrismaticUnaligned;

 // Joint Spherical
 typedef JointDataSphericalTpl<Scalar, Options> JointDataSpherical;

 // Joint Spherical ZYX
 typedef JointDataSphericalZYXTpl<Scalar, Options> JointDataSphericalZYX;

 // Joint Ellipsoid
 typedef JointDataEllipsoidTpl<Scalar, Options> JointDataEllipsoid;

 // Joint Translation
 typedef JointDataTranslationTpl<Scalar, Options> JointDataTranslation;

 // Joint FreeFlyer
 typedef JointDataFreeFlyerTpl<Scalar, Options> JointDataFreeFlyer;

 // Joint Planar
 typedef JointDataPlanarTpl<Scalar, Options> JointDataPlanar;

 // Joint Composite
 typedef JointDataCompositeTpl<Scalar, Options, ::pinocchio::JointCollectionDefaultTpl>
 JointDataComposite;

 // Joint Mimic
 typedef JointDataMimicTpl<Scalar, Options, ::pinocchio::JointCollectionDefaultTpl>
 JointDataMimic;

 // Joint Helical
 typedef JointDataHelicalTpl<Scalar, Options, 0> JointDataHx;
 typedef JointDataHelicalTpl<Scalar, Options, 1> JointDataHy;
 typedef JointDataHelicalTpl<Scalar, Options, 2> JointDataHz;

 // Joint Helical Unaligned
 typedef JointDataHelicalUnalignedTpl<Scalar, Options> JointDataHelicalUnaligned;

 // Joint Universal
 typedef JointDataUniversalTpl<Scalar, Options> JointDataUniversal;

 typedef boost::variant<
 // JointDataVoid
 JointDataRX,
 JointDataRY,
 JointDataRZ,
 JointDataFreeFlyer,
 JointDataPlanar,
 JointDataRevoluteUnaligned,
 JointDataSpherical,
 JointDataSphericalZYX,
 JointDataEllipsoid,
 JointDataPX,
 JointDataPY,
 JointDataPZ,
 JointDataPrismaticUnaligned,
 JointDataTranslation,
 JointDataRUBX,
 JointDataRUBY,
 JointDataRUBZ,
 JointDataRevoluteUnboundedUnaligned,
 JointDataHx,
 JointDataHy,
 JointDataHz,
 JointDataHelicalUnaligned,
 JointDataUniversal,
 boost::recursive_wrapper<JointDataComposite>,
 boost::recursive_wrapper<JointDataMimic>>
 JointDataVariant;
 };

 typedef JointCollectionDefault::JointModelVariant JointModelVariant;
 typedef JointCollectionDefault::JointDataVariant JointDataVariant;

} // namespace pinocchio

#endif // ifndef __pinocchio_multibody_joint_collection_hpp__