fwd.hpp

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#pragma once
 
#include "aligator/context.hpp"
#include <pinocchio/algorithm/frames.hpp>
 
namespace aligator {
 
struct frame_api {
  pinocchio::FrameIndex getFrameId() const { return pin_frame_id_; }
  void setFrameId(const std::size_t id) { pin_frame_id_ = id; }
 
protected:
  pinocchio::FrameIndex pin_frame_id_;
};
 
template <typename> struct MultibodyConfiguration;
template <typename> struct MultibodyPhaseSpace;
 
namespace context {
using PinModel = pinocchio::ModelTpl<Scalar, Options>;
using PinData = pinocchio::DataTpl<Scalar, Options>;
 
using RCM = pinocchio::RigidConstraintModelTpl<Scalar, Options>;
using RCD = pinocchio::RigidConstraintDataTpl<Scalar, Options>;
using RCMVector = PINOCCHIO_ALIGNED_STD_VECTOR(RCM);
using RCDVector = PINOCCHIO_ALIGNED_STD_VECTOR(RCD);
using MultibodyConfiguration = MultibodyConfiguration<Scalar>;
using MultibodyPhaseSpace = MultibodyPhaseSpace<Scalar>;
} // namespace context
 
} // namespace aligator