fwd.hpp

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// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
//
#ifndef __multicontact_api_scenario_fwd_hpp__
#define __multicontact_api_scenario_fwd_hpp__
 
#include <pinocchio/spatial/fwd.hpp>
 
#include "multicontact-api/geometry/fwd.hpp"
 
namespace multicontact_api {
namespace scenario {
 
template <class T>
struct traits {};
 
template <typename _Scalar>
struct ContactPatchTpl;
typedef ContactPatchTpl<double> ContactPatch;
 
template <typename _Scalar>
struct ContactPhaseTpl;
typedef ContactPhaseTpl<double> ContactPhase;
 
template <typename _ContactPhase>
struct ContactSequenceTpl;
typedef ContactSequenceTpl<ContactPhase> ContactSequence;
 
template <typename Scalar>
struct ContactModelTpl;
typedef ContactModelTpl<double> ContactModel;
 
enum ContactType { CONTACT_UNDEFINED, CONTACT_PLANAR, CONTACT_POINT };
enum ConicType { CONIC_SOWC, CONIC_DOUBLE_DESCRIPTION, CONIC_UNDEFINED };
 
}  // namespace scenario
}  // namespace multicontact_api
 
#endif  // ifndef __multicontact_api_scenario_fwd_hpp__