Components.h

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#pragma once
 
#include <pinocchio/multibody/fwd.hpp>
 
namespace candlewick::multibody {
namespace pin = pinocchio;
 
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 candlewick::multibody