31 #ifndef HPP_PINOCCHIO_FWD_HH 32 #define HPP_PINOCCHIO_FWD_HH 34 #ifndef PINOCCHIO_WITH_HPP_FCL 35 #error "hpp-fcl support in Pinocchio is mandatory." 38 #include <hpp/fcl/collision_data.h> 41 #include <hpp/fcl/fwd.hh> 42 #include <hpp/util/pointer.hh> 43 #include <pinocchio/multibody/fwd.hpp> 44 #include <pinocchio/multibody/joint/fwd.hpp> 45 #include <pinocchio/spatial/fwd.hpp> 69 template <
typename _Scalar,
int _Options>
76 typedef ::pinocchio::ModelTpl<value_type, 0, JointCollectionTpl>
Model;
77 typedef ::pinocchio::DataTpl<value_type, 0, JointCollectionTpl>
Data;
82 typedef ::pinocchio::JointModelTpl<value_type, 0, JointCollectionTpl>
85 typedef Eigen::Array<bool, Eigen::Dynamic, 1>
ArrayXb;
87 typedef Eigen::Matrix<value_type, Eigen::Dynamic, 1>
vector_t;
94 typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic>
matrix_t;
110 using fcl::CollisionGeometry;
137 template <
typename vector_type>
139 template <
typename vector_type>
153 #endif // HPP_PINOCCHIO_FWD_HH shared_ptr< const Body > BodyConstPtr_t
Definition: fwd.hh:109
::pinocchio::DataTpl< value_type, 0, JointCollectionTpl > Data
Definition: fwd.hh:77
Eigen::Block< JointJacobian_t, 3, Eigen::Dynamic > HalfJointJacobian_t
Definition: fwd.hh:102
InOutType
Definition: fwd.hh:66
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
Definition: fwd.hh:111
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:132
Humanoid robot.
Definition: humanoid-robot.hh:44
shared_ptr< const Joint > JointConstPtr_t
Definition: fwd.hh:123
shared_ptr< Body > BodyPtr_t
Definition: fwd.hh:108
Utility functions.
Definition: body.hh:39
shared_ptr< const Model > ModelConstPtr_t
Definition: fwd.hh:128
::pinocchio::GeomIndex GeomIndex
Definition: fwd.hh:75
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:129
Eigen::Ref< vector_t > vectorOut_t
Definition: fwd.hh:93
::pinocchio::GeometryModel GeomModel
Definition: fwd.hh:78
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
Definition: fwd.hh:100
std::vector< fcl::DistanceResult > DistanceResults_t
Definition: fwd.hh:119
fcl::CollisionObject FclCollisionObject
Definition: fwd.hh:112
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:97
Definition: device-data.hh:51
::pinocchio::ModelTpl< value_type, 0, JointCollectionTpl > Model
Definition: fwd.hh:76
Request_t
Definition: fwd.hh:65
fcl::CollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:113
JointVector JointVector_t
Definition: fwd.hh:104
Robot frame.
Definition: frame.hh:42
matrix_t::Index size_type
Definition: fwd.hh:96
Eigen::Ref< Configuration_t > ConfigurationOut_t
Definition: fwd.hh:90
LiegroupElementConstBase< vectorIn_t > LiegroupElementConstRef
Const reference to a LiegroupElement.
Definition: fwd.hh:140
::pinocchio::SE3 SE3
Definition: fwd.hh:81
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
Definition: fwd.hh:121
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:117
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:95
Definition: liegroup-space.hh:101
shared_ptr< const Data > DataConstPtr_t
Definition: fwd.hh:130
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:134
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
Definition: fwd.hh:101
shared_ptr< const CollisionObject > CollisionObjectConstPtr_t
Definition: fwd.hh:116
Definition: gripper.hh:48
Eigen::Array< bool, Eigen::Dynamic, 1 > ArrayXb
Definition: fwd.hh:85
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:87
shared_ptr< Gripper > GripperPtr_t
Definition: fwd.hh:124
Eigen::Matrix< value_type, 4, 1 > vector4_t
Definition: fwd.hh:99
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > matrix_t
Definition: fwd.hh:94
::pinocchio::JointModelTpl< value_type, 0, JointCollectionTpl > JointModel
Definition: fwd.hh:83
::pinocchio::GeometryData GeomData
Definition: fwd.hh:79
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:127
Abstract class representing a Device.
Definition: device-sync.hh:40
Definition: center-of-mass-computation.hh:52
const fcl::CollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:114
shared_ptr< Configuration_t > ConfigurationPtr_t
Definition: fwd.hh:91
LiegroupElementBase< vector_t > LiegroupElement
Element of a Lie group.
Definition: fwd.hh:144
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:74
shared_ptr< HumanoidRobot > HumanoidRobotPtr_t
Definition: fwd.hh:120
Robot with geometric and dynamic pinocchio.
Definition: device.hh:60
Definition: collision-object.hh:52
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:122
ObjectVector ObjectVector_t
Definition: fwd.hh:106
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:118
shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:115
double value_type
Definition: fwd.hh:50
Eigen::Ref< const Configuration_t > ConfigurationIn_t
Definition: fwd.hh:89
Definition: collision-object.hh:40
std::vector< GripperPtr_t > Grippers_t
Definition: fwd.hh:125
::pinocchio::SE3 Transform3f
Definition: fwd.hh:80
JointCollectionTpl< value_type, 0 > JointCollection
Definition: fwd.hh:70
Eigen::Ref< const vector_t > vectorIn_t
Definition: fwd.hh:92
::pinocchio::JointIndex JointIndex
Definition: fwd.hh:73
shared_ptr< const LiegroupSpace > LiegroupSpaceConstPtr_t
Definition: fwd.hh:150
vector_t Configuration_t
Definition: fwd.hh:88
Definition: device-sync.hh:204
shared_ptr< const GeomModel > GeomModelConstPtr_t
Definition: fwd.hh:133
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:98
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:149
shared_ptr< const GeomData > GeomDataConstPtr_t
Definition: fwd.hh:135
LiegroupElementBase< vectorOut_t > LiegroupElementRef
Writable reference to a LiegroupElement.
Definition: fwd.hh:146