fwd.hpp

//
// Copyright (c) 2015-2025 CNRS INRIA
// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_spatial_fwd_hpp__
#define __pinocchio_spatial_fwd_hpp__

#include "pinocchio/fwd.hpp"
#include "pinocchio/macros.hpp"

namespace pinocchio
{
 namespace internal
 {
 template<typename Type, typename Scalar>
 struct RHSScalarMultiplication
 {
 typedef Type ReturnType;
 };

 template<typename Type, typename Scalar>
 struct LHSScalarMultiplication
 {
 typedef Type ReturnType;
 };
 } // namespace internal


 template<typename Derived>
 class MotionBase;
 template<typename Derived>
 class MotionDense;
 template<typename Vector6ArgType>
 class MotionRef;
 template<typename Scalar, int Options = context::Options>
 struct MotionZeroTpl;

 template<typename Derived>
 class ForceBase;
 template<typename Derived>
 class ForceDense;
 template<typename Vector6ArgType>
 class ForceRef;

 template<typename Scalar, int Options = context::Options>
 class Symmetric3Tpl;
 template<typename Scalar, int Options = context::Options>
 struct PseudoInertiaTpl;
 template<typename Scalar, int Options = context::Options>
 struct LogCholeskyParametersTpl;

 typedef context::SE3 SE3;
 typedef context::Motion Motion;
 typedef context::Force Force;
 typedef context::Inertia Inertia;
 typedef Symmetric3Tpl<context::Scalar, context::Options> Symmetric3;
 typedef MotionZeroTpl<context::Scalar, context::Options> MotionZero;
 typedef PseudoInertiaTpl<context::Scalar, context::Options> PseudoInertia;
 typedef LogCholeskyParametersTpl<context::Scalar, context::Options> LogCholeskyParameters;

 // end of group spatial

#define SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived, TYPENAME) \
 typedef TYPENAME traits<derived>::Scalar Scalar; \
 typedef TYPENAME traits<derived>::Vector3 Vector3; \
 typedef TYPENAME traits<derived>::Vector4 Vector4; \
 typedef TYPENAME traits<derived>::Vector6 Vector6; \
 typedef TYPENAME traits<derived>::Matrix3 Matrix3; \
 typedef TYPENAME traits<derived>::Matrix4 Matrix4; \
 typedef TYPENAME traits<derived>::Matrix6 Matrix6; \
 typedef TYPENAME traits<derived>::Angular_t Angular_t; \
 typedef TYPENAME traits<derived>::Linear_t Linear_t; \
 typedef TYPENAME traits<derived>::ConstAngular_t ConstAngular_t; \
 typedef TYPENAME traits<derived>::ConstLinear_t ConstLinear_t; \
 typedef TYPENAME traits<derived>::ActionMatrix_t ActionMatrix_t; \
 typedef TYPENAME traits<derived>::Quaternion_t Quaternion_t; \
 typedef TYPENAME traits<derived>::SE3 SE3; \
 typedef TYPENAME traits<derived>::Force Force; \
 typedef TYPENAME traits<derived>::Motion Motion; \
 typedef TYPENAME traits<derived>::Symmetric3 Symmetric3; \
 enum \
 { \
 LINEAR = traits<derived>::LINEAR, \
 ANGULAR = traits<derived>::ANGULAR \
 }

#define SPATIAL_TYPEDEF_TEMPLATE(derived) SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived, typename)

#define SPATIAL_TYPEDEF_NO_TEMPLATE(derived) \
 SPATIAL_TYPEDEF_TEMPLATE_GENERIC(derived, PINOCCHIO_MACRO_EMPTY_ARG)

 namespace internal
 {
 // for certain Scalar type, it might be needed to proceed to call some normalization procedure
 // in when performing a cast. This struct is an helper to support such modality.
 template<typename Class, typename NewScalar, typename Scalar>
 struct cast_call_normalize_method;
 } // namespace internal

} // namespace pinocchio

#endif // ifndef __pinocchio_spatial_fwd_hpp__