31 #ifndef HPP_PINOCCHIO_JOINT_COLLECTION_HH
32 #define HPP_PINOCCHIO_JOINT_COLLECTION_HH
34 #include <boost/variant.hpp>
35 #include <boost/variant/recursive_wrapper.hpp>
37 #include "pinocchio/multibody/joint/fwd.hpp"
38 #include "pinocchio/multibody/joint/joint-free-flyer.hpp"
39 #include "pinocchio/multibody/joint/joint-planar.hpp"
40 #include "pinocchio/multibody/joint/joint-prismatic.hpp"
41 #include "pinocchio/multibody/joint/joint-revolute-unaligned.hpp"
42 #if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
43 #include "pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp"
45 #include "pinocchio/multibody/joint/joint-prismatic-unaligned.hpp"
46 #include "pinocchio/multibody/joint/joint-revolute-unbounded.hpp"
47 #include "pinocchio/multibody/joint/joint-revolute.hpp"
50 #include "pinocchio/multibody/joint/joint-translation.hpp"
55 template <
typename _Scalar,
int _Options>
61 typedef ::pinocchio::JointModelRevoluteTpl<Scalar, Options, 0>
JointModelRX;
62 typedef ::pinocchio::JointModelRevoluteTpl<Scalar, Options, 1>
JointModelRY;
63 typedef ::pinocchio::JointModelRevoluteTpl<Scalar, Options, 2>
JointModelRZ;
66 typedef ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>
70 typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, 0>
72 typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, 1>
74 typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, 2>
77 #if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
79 typedef ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>
80 JointModelRevoluteUnboundedUnaligned;
84 typedef ::pinocchio::JointModelPrismaticTpl<Scalar, Options, 0>
JointModelPX;
85 typedef ::pinocchio::JointModelPrismaticTpl<Scalar, Options, 1>
JointModelPY;
86 typedef ::pinocchio::JointModelPrismaticTpl<Scalar, Options, 2>
JointModelPZ;
89 typedef ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>
93 typedef ::pinocchio::JointModelSphericalTpl<Scalar, Options>
97 typedef ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options>
101 typedef ::pinocchio::JointModelTranslationTpl<Scalar, Options>
105 typedef ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options>
116 typedef boost::variant<
120 #if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
122 JointModelRevoluteUnboundedUnaligned
130 typedef ::pinocchio::JointDataRevoluteTpl<Scalar, Options, 0>
JointDataRX;
131 typedef ::pinocchio::JointDataRevoluteTpl<Scalar, Options, 1>
JointDataRY;
132 typedef ::pinocchio::JointDataRevoluteTpl<Scalar, Options, 2>
JointDataRZ;
135 typedef ::pinocchio::JointDataRevoluteUnalignedTpl<Scalar, Options>
139 typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar, Options, 0>
141 typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar, Options, 1>
143 typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar, Options, 2>
146 #if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
148 typedef ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl<Scalar, Options>
149 JointDataRevoluteUnboundedUnaligned;
153 typedef ::pinocchio::JointDataPrismaticTpl<Scalar, Options, 0>
JointDataPX;
154 typedef ::pinocchio::JointDataPrismaticTpl<Scalar, Options, 1>
JointDataPY;
155 typedef ::pinocchio::JointDataPrismaticTpl<Scalar, Options, 2>
JointDataPZ;
158 typedef ::pinocchio::JointDataPrismaticUnalignedTpl<Scalar, Options>
162 typedef ::pinocchio::JointDataSphericalTpl<Scalar, Options>
166 typedef ::pinocchio::JointDataSphericalZYXTpl<Scalar, Options>
170 typedef ::pinocchio::JointDataTranslationTpl<Scalar, Options>
174 typedef ::pinocchio::JointDataFreeFlyerTpl<Scalar, Options>
185 typedef boost::variant<
189 #if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
191 JointDataRevoluteUnboundedUnaligned
JointCollection::JointModelVariant JointModelVariant
Definition: joint-collection.hh:199
JointCollection::JointDataVariant JointDataVariant
Definition: joint-collection.hh:200
Utility functions.
Definition: body.hh:39
Definition: collision-object.hh:40
Definition: joint-collection.hh:56
::pinocchio::JointDataRevoluteUnboundedTpl< Scalar, Options, 2 > JointDataRUBZ
Definition: joint-collection.hh:144
_Scalar Scalar
Definition: joint-collection.hh:57
::pinocchio::JointModelPrismaticTpl< Scalar, Options, 2 > JointModelPZ
Definition: joint-collection.hh:86
::pinocchio::JointDataSphericalTpl< Scalar, Options > JointDataSpherical
Definition: joint-collection.hh:163
::pinocchio::JointModelFreeFlyerTpl< Scalar, Options > JointModelFreeFlyer
Definition: joint-collection.hh:106
::pinocchio::JointDataPrismaticTpl< Scalar, Options, 2 > JointDataPZ
Definition: joint-collection.hh:155
::pinocchio::JointDataPrismaticTpl< Scalar, Options, 1 > JointDataPY
Definition: joint-collection.hh:154
::pinocchio::JointDataRevoluteUnboundedTpl< Scalar, Options, 0 > JointDataRUBX
Definition: joint-collection.hh:140
::pinocchio::JointModelPlanarTpl< Scalar, Options > JointModelPlanar
Definition: joint-collection.hh:109
::pinocchio::JointDataRevoluteUnalignedTpl< Scalar, Options > JointDataRevoluteUnaligned
Definition: joint-collection.hh:136
::pinocchio::JointDataTranslationTpl< Scalar, Options > JointDataTranslation
Definition: joint-collection.hh:171
::pinocchio::JointDataRevoluteTpl< Scalar, Options, 0 > JointDataRX
Definition: joint-collection.hh:130
boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelFreeFlyer, JointModelPlanar, JointModelRevoluteUnaligned, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelTranslation, JointModelRUBX, JointModelRUBY, JointModelRUBZ > JointModelVariant
Definition: joint-collection.hh:127
::pinocchio::JointModelRevoluteUnalignedTpl< Scalar, Options > JointModelRevoluteUnaligned
Definition: joint-collection.hh:67
::pinocchio::JointModelRevoluteTpl< Scalar, Options, 0 > JointModelRX
Definition: joint-collection.hh:61
::pinocchio::JointDataRevoluteTpl< Scalar, Options, 1 > JointDataRY
Definition: joint-collection.hh:131
::pinocchio::JointModelPrismaticTpl< Scalar, Options, 0 > JointModelPX
Definition: joint-collection.hh:84
::pinocchio::JointModelSphericalZYXTpl< Scalar, Options > JointModelSphericalZYX
Definition: joint-collection.hh:98
@ Options
Definition: joint-collection.hh:58
::pinocchio::JointModelRevoluteTpl< Scalar, Options, 1 > JointModelRY
Definition: joint-collection.hh:62
::pinocchio::JointDataPlanarTpl< Scalar, Options > JointDataPlanar
Definition: joint-collection.hh:178
::pinocchio::JointDataPrismaticTpl< Scalar, Options, 0 > JointDataPX
Definition: joint-collection.hh:153
::pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 2 > JointModelRUBZ
Definition: joint-collection.hh:75
::pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 1 > JointModelRUBY
Definition: joint-collection.hh:73
::pinocchio::JointModelCompositeTpl< Scalar, Options, pinocchio::JointCollectionTpl > JointModelComposite
Definition: joint-collection.hh:114
::pinocchio::JointModelPrismaticTpl< Scalar, Options, 1 > JointModelPY
Definition: joint-collection.hh:85
::pinocchio::JointModelRevoluteTpl< Scalar, Options, 2 > JointModelRZ
Definition: joint-collection.hh:63
::pinocchio::JointDataCompositeTpl< Scalar, Options, pinocchio::JointCollectionTpl > JointDataComposite
Definition: joint-collection.hh:183
boost::variant< JointDataRX, JointDataRY, JointDataRZ, JointDataFreeFlyer, JointDataPlanar, JointDataRevoluteUnaligned, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataTranslation, JointDataRUBX, JointDataRUBY, JointDataRUBZ > JointDataVariant
Definition: joint-collection.hh:196
::pinocchio::JointDataSphericalZYXTpl< Scalar, Options > JointDataSphericalZYX
Definition: joint-collection.hh:167
::pinocchio::JointDataRevoluteTpl< Scalar, Options, 2 > JointDataRZ
Definition: joint-collection.hh:132
::pinocchio::JointDataRevoluteUnboundedTpl< Scalar, Options, 1 > JointDataRUBY
Definition: joint-collection.hh:142
::pinocchio::JointModelSphericalTpl< Scalar, Options > JointModelSpherical
Definition: joint-collection.hh:94
::pinocchio::JointDataPrismaticUnalignedTpl< Scalar, Options > JointDataPrismaticUnaligned
Definition: joint-collection.hh:159
::pinocchio::JointModelPrismaticUnalignedTpl< Scalar, Options > JointModelPrismaticUnaligned
Definition: joint-collection.hh:90
::pinocchio::JointDataFreeFlyerTpl< Scalar, Options > JointDataFreeFlyer
Definition: joint-collection.hh:175
::pinocchio::JointModelTranslationTpl< Scalar, Options > JointModelTranslation
Definition: joint-collection.hh:102
::pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 0 > JointModelRUBX
Definition: joint-collection.hh:71