pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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fwd.hpp
1//
2// Copyright (c) 2016-2019 CNRS INRIA
3//
4
5#ifndef __pinocchio_multibody_joint_fwd_hpp__
6#define __pinocchio_multibody_joint_fwd_hpp__
7
8#include "pinocchio/fwd.hpp"
9
10namespace pinocchio
11{
12
14 enum
15 {
16 MAX_JOINT_NV = 6
17 };
19
24
25 struct JointModelVoid
26 {
27 };
28 struct JointDataVoid
29 {
30 };
31
32 template<typename Scalar, int Options, int axis>
33 struct JointModelRevoluteTpl;
34 template<typename Scalar, int Options, int axis>
35 struct JointDataRevoluteTpl;
36
37 template<typename Scalar, int Options = context::Options>
38 struct JointModelRevoluteUnalignedTpl;
39 typedef JointModelRevoluteUnalignedTpl<context::Scalar> JointModelRevoluteUnaligned;
40
41 template<typename Scalar, int Options = context::Options>
42 struct JointDataRevoluteUnalignedTpl;
43 typedef JointDataRevoluteUnalignedTpl<context::Scalar> JointDataRevoluteUnaligned;
44
45 template<typename Scalar, int Options = context::Options>
46 struct JointModelRevoluteUnboundedUnalignedTpl;
47 typedef JointModelRevoluteUnboundedUnalignedTpl<context::Scalar>
48 JointModelRevoluteUnboundedUnaligned;
49 template<typename Scalar, int Options = context::Options>
50 struct JointDataRevoluteUnboundedUnalignedTpl;
51 typedef JointDataRevoluteUnboundedUnalignedTpl<context::Scalar>
52 JointDataRevoluteUnboundedUnaligned;
53
54 template<typename Scalar, int Options, int axis>
55 struct JointModelRevoluteUnboundedTpl;
56 template<typename Scalar, int Options, int axis>
57 struct JointDataRevoluteUnboundedTpl;
58
59 template<typename Scalar, int Options, int axis>
60 struct JointModelHelicalTpl;
61 template<typename Scalar, int Options, int axis>
62 struct JointDataHelicalTpl;
63
64 template<typename Scalar, int Options = context::Options>
65 struct JointModelHelicalUnalignedTpl;
66 typedef JointModelHelicalUnalignedTpl<context::Scalar> JointModelHelicalUnaligned;
67
68 template<typename Scalar, int Options = context::Options>
69 struct JointDataHelicalUnalignedTpl;
70 typedef JointDataHelicalUnalignedTpl<context::Scalar> JointDataHelicalUnaligned;
71
72 template<typename Scalar, int Options = context::Options>
73 struct JointModelSphericalTpl;
74 typedef JointModelSphericalTpl<context::Scalar> JointModelSpherical;
75
76 template<typename Scalar, int Options = context::Options>
77 struct JointDataSphericalTpl;
78 typedef JointDataSphericalTpl<context::Scalar> JointDataSpherical;
79
80 template<typename Scalar, int Options = context::Options>
81 struct JointModelSphericalZYXTpl;
82 typedef JointModelSphericalZYXTpl<context::Scalar> JointModelSphericalZYX;
83
84 template<typename Scalar, int Options = context::Options>
85 struct JointDataSphericalZYXTpl;
86 typedef JointDataSphericalZYXTpl<context::Scalar> JointDataSphericalZYX;
87
88 template<typename Scalar, int Options = context::Options>
89 struct JointModelEllipsoidTpl;
90 typedef JointModelEllipsoidTpl<context::Scalar> JointModelEllipsoid;
91
92 template<typename Scalar, int Options = context::Options>
93 struct JointDataEllipsoidTpl;
94 typedef JointDataEllipsoidTpl<context::Scalar> JointDataEllipsoid;
95
96 template<typename Scalar, int Options, int axis>
97 struct JointModelPrismaticTpl;
98 template<typename Scalar, int Options, int axis>
99 struct JointDataPrismaticTpl;
100
101 template<typename Scalar, int Options = context::Options>
102 struct JointModelPrismaticUnalignedTpl;
103 typedef JointModelPrismaticUnalignedTpl<context::Scalar> JointModelPrismaticUnaligned;
104
105 template<typename Scalar, int Options = context::Options>
106 struct JointDataPrismaticUnalignedTpl;
107 typedef JointDataPrismaticUnalignedTpl<context::Scalar> JointDataPrismaticUnaligned;
108
109 template<typename Scalar, int Options = context::Options>
110 struct JointModelUniversalTpl;
111 typedef JointModelUniversalTpl<context::Scalar> JointModelUniversal;
112
113 template<typename Scalar, int Options = context::Options>
114 struct JointDataUniversalTpl;
115 typedef JointDataUniversalTpl<context::Scalar> JointDataUniversal;
116
117 template<typename Scalar, int Options = context::Options>
118 struct JointModelFreeFlyerTpl;
119 typedef JointModelFreeFlyerTpl<context::Scalar> JointModelFreeFlyer;
120
121 template<typename Scalar, int Options = context::Options>
122 struct JointDataFreeFlyerTpl;
123 typedef JointDataFreeFlyerTpl<context::Scalar> JointDataFreeFlyer;
124
125 template<typename Scalar, int Options = context::Options>
126 struct JointModelPlanarTpl;
127 typedef JointModelPlanarTpl<context::Scalar> JointModelPlanar;
128
129 template<typename Scalar, int Options = context::Options>
130 struct JointDataPlanarTpl;
131 typedef JointDataPlanarTpl<context::Scalar> JointDataPlanar;
132
133 template<typename Scalar, int Options = context::Options>
134 struct JointModelTranslationTpl;
135 typedef JointModelTranslationTpl<context::Scalar> JointModelTranslation;
136
137 template<typename Scalar, int Options = context::Options>
138 struct JointDataTranslationTpl;
139 typedef JointDataTranslationTpl<context::Scalar> JointDataTranslation;
140
141 template<typename Scalar, int Options = context::Options>
142 struct JointCollectionDefaultTpl;
143 typedef JointCollectionDefaultTpl<context::Scalar> JointCollectionDefault;
144
145 template<
146 typename Scalar,
147 int Options = context::Options,
148 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
149 struct JointModelCompositeTpl;
150 typedef JointModelCompositeTpl<context::Scalar> JointModelComposite;
151
152 template<
153 typename Scalar,
154 int Options = context::Options,
155 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
156 struct JointDataCompositeTpl;
157 typedef JointDataCompositeTpl<context::Scalar> JointDataComposite;
158
159 template<
160 typename Scalar,
161 int Options = context::Options,
162 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
163 struct JointModelMimicTpl;
164 typedef JointModelMimicTpl<context::Scalar> JointModelMimic;
165
166 template<
167 typename Scalar,
168 int Options = context::Options,
169 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
170 struct JointDataMimicTpl;
171 typedef JointDataMimicTpl<context::Scalar> JointDataMimic;
172
173 template<
174 typename Scalar,
175 int Options = context::Options,
176 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
177 struct JointModelTpl;
178 typedef JointModelTpl<context::Scalar> JointModel;
179
180 template<
181 typename Scalar,
182 int Options = context::Options,
183 template<typename S, int O> class JointCollectionTpl = JointCollectionDefaultTpl>
184 struct JointDataTpl;
185 typedef JointDataTpl<context::Scalar> JointData;
186
190 // end of group joint
191} // namespace pinocchio
192
193#include "pinocchio/multibody/fwd.hpp"
194
195#endif // ifndef __pinocchio_multibody_joint_fwd_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::JointModelEllipsoidTpl
Ellipsoid joint - constrains motion to ellipsoid surface with 3-DOF.
Definition joint-ellipsoid.hpp:390