fwd.hh

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#ifndef HPP_CONSTRAINTS_FWD_HH
#define HPP_CONSTRAINTS_FWD_HH
 
#include <hpp/constraints/deprecated.hh>
#include <hpp/pinocchio/fwd.hh>
#include <list>
#include <map>
 
namespace Eigen {
struct BlockIndex;
}  // namespace Eigen
 
namespace hpp {
namespace constraints {
HPP_PREDEF_CLASS(DifferentiableFunction);
HPP_PREDEF_CLASS(DifferentiableFunctionSet);
HPP_PREDEF_CLASS(ActiveSetDifferentiableFunction);
typedef pinocchio::size_type size_type;
typedef pinocchio::value_type value_type;
typedef pinocchio::JointPtr_t JointPtr_t;
typedef pinocchio::JointConstPtr_t JointConstPtr_t;
typedef pinocchio::Joint Joint;
typedef pinocchio::vector3_t vector3_t;
typedef pinocchio::matrix3_t matrix3_t;
typedef Eigen::Matrix<value_type, 6, 6> matrix6_t;
typedef Eigen::Matrix<value_type, 8, 1> vector8_t;
typedef pinocchio::matrix_t matrix_t;
typedef Eigen::Ref<const matrix_t> matrixIn_t;
typedef Eigen::Ref<matrix_t> matrixOut_t;
typedef pinocchio::vector_t vector_t;
typedef pinocchio::vectorIn_t vectorIn_t;
typedef pinocchio::vectorOut_t vectorOut_t;
typedef pinocchio::ComJacobian_t ComJacobian_t;
typedef pinocchio::JointJacobian_t JointJacobian_t;
typedef pinocchio::Transform3s Transform3s;
typedef pinocchio::LiegroupElement LiegroupElement;
typedef pinocchio::LiegroupElementRef LiegroupElementRef;
typedef pinocchio::LiegroupElementConstRef LiegroupElementConstRef;
typedef pinocchio::LiegroupSpace LiegroupSpace;
typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
typedef pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t;
namespace eigen {
typedef Eigen::Matrix<value_type, 3, 3> matrix3_t;
typedef Eigen::Matrix<value_type, 3, 1> vector3_t;
}  // namespace eigen
typedef Eigen::Matrix<value_type, 5, 1> vector5_t;
typedef Eigen::Matrix<value_type, 6, 1> vector6_t;
typedef Eigen::Matrix<value_type, 7, 1> vector7_t;
typedef Eigen::Quaternion<value_type> Quaternion_t;
 
typedef pinocchio::ArrayXb ArrayXb;
typedef ArrayXb bool_array_t;
 
typedef std::pair<size_type, size_type> segment_t;
typedef std::pair<value_type, value_type> interval_t;
typedef std::vector<segment_t> segments_t;
 
HPP_PREDEF_CLASS(DistanceBetweenBodies);
HPP_PREDEF_CLASS(DistanceBetweenPointsInBodies);
HPP_PREDEF_CLASS(RelativeCom);
HPP_PREDEF_CLASS(ComBetweenFeet);
HPP_PREDEF_CLASS(StaticStability);
HPP_PREDEF_CLASS(QPStaticStability);
class ConvexShape;
typedef std::vector<ConvexShape> ConvexShapes_t;
HPP_PREDEF_CLASS(ConvexShapeContact);
HPP_PREDEF_CLASS(ConvexShapeContactComplement);
HPP_PREDEF_CLASS(ConvexShapeContactHold);
HPP_PREDEF_CLASS(ConfigurationConstraint);
HPP_PREDEF_CLASS(Identity);
HPP_PREDEF_CLASS(AffineFunction);
HPP_PREDEF_CLASS(ConstantFunction);
 
typedef pinocchio::ObjectVector_t ObjectVector_t;
typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t;
typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t;
typedef pinocchio::Configuration_t Configuration_t;
typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
typedef pinocchio::Device Device;
typedef pinocchio::DevicePtr_t DevicePtr_t;
typedef pinocchio::DeviceConstPtr_t DeviceConstPtr_t;
typedef pinocchio::CenterOfMassComputation CenterOfMassComputation;
typedef pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t;
typedef shared_ptr<DifferentiableFunction> DifferentiableFunctionPtr_t;
typedef shared_ptr<DifferentiableFunctionSet> DifferentiableFunctionSetPtr_t;
typedef shared_ptr<ActiveSetDifferentiableFunction>
    ActiveSetDifferentiableFunctionPtr_t;
typedef shared_ptr<DistanceBetweenBodies> DistanceBetweenBodiesPtr_t;
typedef shared_ptr<DistanceBetweenPointsInBodies>
    DistanceBetweenPointsInBodiesPtr_t;
typedef shared_ptr<RelativeCom> RelativeComPtr_t;
typedef shared_ptr<ComBetweenFeet> ComBetweenFeetPtr_t;
typedef std::vector<vector3_t> Shape_t;
typedef std::pair<JointPtr_t, Shape_t> JointAndShape_t;
typedef std::vector<JointAndShape_t> JointAndShapes_t;
typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
typedef shared_ptr<ConvexShapeContactComplement>
    ConvexShapeContactComplementPtr_t;
typedef shared_ptr<ConvexShapeContactHold> ConvexShapeContactHoldPtr_t;
typedef shared_ptr<StaticStability> StaticStabilityPtr_t;
typedef shared_ptr<QPStaticStability> QPStaticStabilityPtr_t;
typedef shared_ptr<ConfigurationConstraint> ConfigurationConstraintPtr_t;
typedef shared_ptr<Identity> IdentityPtr_t;
typedef shared_ptr<AffineFunction> AffineFunctionPtr_t;
typedef shared_ptr<ConstantFunction> ConstantFunctionPtr_t;
 
template <int _Options>
class GenericTransformation;

const int RelativeBit = 0x1;
const int PositionBit = 0x2;
const int OrientationBit = 0x4;
const int OutputR3xSO3Bit = 0x8;
typedef GenericTransformation<PositionBit | OrientationBit> Transformation;
typedef GenericTransformation<PositionBit> Position;
typedef GenericTransformation<OrientationBit> Orientation;
typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit>
    RelativeTransformation;
typedef GenericTransformation<RelativeBit | PositionBit> RelativePosition;
typedef GenericTransformation<RelativeBit | OrientationBit> RelativeOrientation;
typedef GenericTransformation<PositionBit | OrientationBit | OutputR3xSO3Bit>
    TransformationR3xSO3;
typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit |
                              OutputR3xSO3Bit>
    RelativeTransformationR3xSO3;
typedef GenericTransformation<OrientationBit | OutputR3xSO3Bit> OrientationSO3;
typedef GenericTransformation<RelativeBit | OrientationBit | OutputR3xSO3Bit>
    RelativeOrientationSO3;
 
typedef shared_ptr<Position> PositionPtr_t;
typedef shared_ptr<Orientation> OrientationPtr_t;
typedef shared_ptr<Transformation> TransformationPtr_t;
typedef shared_ptr<RelativePosition> RelativePositionPtr_t;
typedef shared_ptr<RelativeOrientation> RelativeOrientationPtr_t;
typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
 
typedef Eigen::BlockIndex BlockIndex;
 
HPP_PREDEF_CLASS(Implicit);
typedef shared_ptr<Implicit> ImplicitPtr_t;
typedef shared_ptr<const Implicit> ImplicitConstPtr_t;
typedef std::vector<constraints::ImplicitPtr_t> NumericalConstraints_t;
HPP_PREDEF_CLASS(ImplicitConstraintSet);
typedef shared_ptr<ImplicitConstraintSet> ImplicitConstraintSetPtr_t;
 
enum ComparisonType { Equality, EqualToZero, Superior, Inferior };
typedef std::vector<ComparisonType> ComparisonTypes_t;
 
HPP_PREDEF_CLASS(Explicit);
typedef shared_ptr<Explicit> ExplicitPtr_t;
typedef shared_ptr<const Explicit> ExplicitConstPtr_t;
 
// Map to replace constraints by their copies when copying solvers
typedef std::map<ImplicitPtr_t, ImplicitPtr_t> ConstraintReplacement_t;
class ExplicitConstraintSet;
namespace solver {
class HierarchicalIterative;
class BySubstitution;
}  // namespace solver
 
namespace explicit_ {
class Function;
HPP_PREDEF_CLASS(RelativePose);
typedef shared_ptr<RelativePose> RelativePosePtr_t;
HPP_PREDEF_CLASS(RelativeTransformation);
typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
HPP_PREDEF_CLASS(ImplicitFunction);
typedef shared_ptr<ImplicitFunction> ImplicitFunctionPtr_t;
HPP_PREDEF_CLASS(ConvexShapeContact);
typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
}  // namespace explicit_
 
HPP_PREDEF_CLASS(LockedJoint);
typedef shared_ptr<LockedJoint> LockedJointPtr_t;
typedef shared_ptr<const LockedJoint> LockedJointConstPtr_t;
typedef std::vector<LockedJointPtr_t> LockedJoints_t;
 
namespace function {
HPP_PREDEF_CLASS(OfParameterSubset);
typedef shared_ptr<OfParameterSubset> OfParameterSubsetPtr_t;
}  // namespace function
}  // namespace constraints
}  // namespace hpp
 
#endif  // HPP_CONSTRAINTS_FWD_HH