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>;
 
  namespace gui {
    void addPinocchioModelInfo(entt::registry &reg, const pin::Model &model,
                               const pin::GeometryModel &geom_model,
                               int table_height_lines = 6);
  } // namespace gui
 
  struct PinGeomObjComponent {
    pin::GeomIndex geom_index;
    operator auto() const { return geom_index; }
  };
 
  struct PinFrameComponent {
    pin::FrameIndex frame_id;
    operator auto() const { return frame_id; }
  };

  struct PinFrameVelocityComponent {
    pin::FrameIndex frame_id;
    operator auto() const { return frame_id; }
  };
} // namespace multibody
} // namespace candlewick