fwd.hpp

//
// Copyright (c) 2025 INRIA
//

#ifndef __pinocchio_parsers_graph_fwd_hpp__
#define __pinocchio_parsers_graph_fwd_hpp__

#include "pinocchio/fwd.hpp"

#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/spatial/inertia.hpp"

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/frame.hpp"

namespace pinocchio
{
 namespace graph
 {
 typedef SE3Tpl<double, PINOCCHIO_OPTIONS_DEFAULT> SE3;
 typedef InertiaTpl<double, PINOCCHIO_OPTIONS_DEFAULT> Inertia;
 typedef FrameTpl<double, PINOCCHIO_OPTIONS_DEFAULT> Frame;
 typedef ModelTpl<double, PINOCCHIO_OPTIONS_DEFAULT, JointCollectionDefaultTpl> Model;

 // joints.hpp
 struct JointLimits;
 struct JointFixed;
 struct JointRevolute;
 struct JointRevoluteUnbounded;
 struct JointPrismatic;
 struct JointFreeFlyer;
 struct JointSpherical;
 struct JointSphericalZYX;
 struct JointTranslation;
 struct JointPlanar;
 struct JointHelical;
 struct JointUniversal;
 struct JointComposite;
 struct JointMimic;

 // frames.hpp
 struct BodyFrame;
 struct SensorFrame;
 struct OpFrame;

 // geometries.hpp
 enum struct GeomType;
 struct Mesh;
 struct Box;
 struct Cylinder;
 struct Capsule;
 struct Sphere;
 struct Geometry;

 // model-graph.hpp
 struct EdgeBuilder;
 struct EdgeParameters;
 struct GeometryBuilder;
 struct ModelGraphVertex;
 struct ModelGraphEdge;
 struct ModelGraphBuildInfo;
 struct ModelGraph;

 // model-graph-algo.hpp
 struct BuildModelWithBuildInfoReturn;

 } // namespace graph
} // namespace pinocchio

#endif // ifndef __pinocchio_parsers_graph_fwd_hpp__