Multibody.h

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#pragma once
 
#include <pinocchio/multibody/fwd.hpp>
#include <entt/entity/registry.hpp>
 
namespace candlewick {
namespace multibody {
  namespace pin = pinocchio;
  struct RobotDebugSystem;
  class RobotScene;
  class Visualizer;
 
  using SE3f = pin::SE3Tpl<float>;
  using Motionf = pin::MotionTpl<float>;
  using Inertiaf = pin::InertiaTpl<float>;
  using Forcef = pin::ForceTpl<float>;

  void guiAddPinocchioModelInfo(entt::registry &reg, const pin::Model &model,
                                const pin::GeometryModel &geom_model,
                                int table_height_lines = 6);
} // namespace multibody
} // namespace candlewick