[Minor][C++] Forward declare joints in joint/fwd.hh

src/multibody/joint/fwd.hpp

@@ -21,7 +21,37 @@
 namespace se3
 {
   enum { MAX_JOINT_NV = 6 };
-  
+
+  template<int axis> struct JointModelRevolute;
+  template<int axis> struct JointDataRevolute;
+
+  struct JointModelRevoluteUnaligned;
+  struct JointDataRevoluteUnaligned;
+
+  template<int axis> struct JointModelRevoluteUnbounded;
+  template<int axis> struct JointDataRevoluteUnbounded;
+
+  struct JointModelSpherical;
+  struct JointDataSpherical;
+
+  struct JointModelSphericalZYX;
+  struct JointDataSphericalZYX;
+
+  template<int axis> struct JointModelPrismatic;
+  template<int axis> struct JointDataPrismatic;
+
+  struct JointModelPrismaticUnaligned;
+  struct JointDataPrismaticUnaligned;
+
+  struct JointModelFreeFlyer;
+  struct JointDataFreeFlyer;
+
+  struct JointModelPlanar;
+  struct JointDataPlanar;
+
+  struct JointModelTranslation;
+  struct JointDataTranslation;
+
   struct JointModelComposite;
   struct JointDataComposite;
   

src/multibody/joint/joint-free-flyer.hpp

@@ -31,9 +31,6 @@
 namespace se3
 {
 
-  struct JointDataFreeFlyer;
-  struct JointModelFreeFlyer;
-
   struct ConstraintIdentity;
 
   template <>

src/multibody/joint/joint-planar.hpp

@@ -30,9 +30,6 @@
 namespace se3
 {
 
-  struct JointDataPlanar;
-  struct JointModelPlanar;
-
   struct MotionPlanar;
   template <>
   struct traits< MotionPlanar >

src/multibody/joint/joint-prismatic-unaligned.hpp

@@ -28,9 +28,6 @@
 namespace se3
 {
 
-  struct JointDataPrismaticUnaligned;
-  struct JointModelPrismaticUnaligned;
-
   struct MotionPrismaticUnaligned;
   
   template <>

src/multibody/joint/joint-prismatic.hpp

@@ -27,9 +27,6 @@
 
 namespace se3
 {
-
-  template<int axis> struct JointDataPrismatic;
-  template<int axis> struct JointModelPrismatic;
   
   namespace prismatic
   {

src/multibody/joint/joint-revolute-unaligned.hpp

@@ -28,9 +28,6 @@
 namespace se3
 {
 
-  struct JointDataRevoluteUnaligned;
-  struct JointModelRevoluteUnaligned;
-
   struct MotionRevoluteUnaligned;
   template <>
   struct traits < MotionRevoluteUnaligned >

src/multibody/joint/joint-revolute-unbounded.hpp

@@ -31,10 +31,6 @@ namespace se3
 
   template<int axis> struct JointRevoluteUnbounded;
 
-  template<int axis> struct JointDataRevoluteUnbounded;
-  template<int axis> struct JointModelRevoluteUnbounded;
-
-
   template<int axis>
   struct traits< JointRevoluteUnbounded<axis> >
   {

src/multibody/joint/joint-revolute.hpp

@@ -29,9 +29,6 @@
 namespace se3
 {
 
-  template<int axis> struct JointDataRevolute;
-  template<int axis> struct JointModelRevolute;
-  
   template<int axis> struct SE3Revolute;
   template<int axis> struct MotionRevolute;
 

src/multibody/joint/joint-spherical-ZYX.hpp

@@ -29,9 +29,6 @@
 
 namespace se3
 {
-
-  struct JointDataSphericalZYX;
-  struct JointModelSphericalZYX;
   
   template <typename _Scalar, int _Options>
   struct JointSphericalZYXTpl

src/multibody/joint/joint-spherical.hpp

@@ -31,9 +31,6 @@
 namespace se3
 {
 
-  struct JointDataSpherical;
-  struct JointModelSpherical;
-
   struct MotionSpherical;
   template <>
   struct traits< MotionSpherical >

src/multibody/joint/joint-translation.hpp

@@ -29,9 +29,6 @@
 namespace se3
 {
 
-  struct JointDataTranslation;
-  struct JointModelTranslation;
-
   struct MotionTranslation;
   template <>
   struct traits < MotionTranslation >

src/multibody/liegroup/liegroup.hpp

@@ -24,7 +24,7 @@
 #include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
 #include "pinocchio/multibody/liegroup/special-euclidean.hpp"
 
-// #include "pinocchio/multibody/joint/joint.hpp"
+#include "pinocchio/multibody/joint/fwd.hpp"
 
 namespace se3 {
   struct LieGroupTpl {

unittest/liegroups.cpp

@@ -14,9 +14,10 @@
 // received a copy of the GNU Lesser General Public License along with
 // pinocchio. If not, see <http://www.gnu.org/licenses/>.
 
+#include "pinocchio/multibody/liegroup/liegroup.hpp"
+
 #include "pinocchio/multibody/joint/joint-composite.hpp"
 #include "pinocchio/multibody/joint/joint.hpp"
-#include "pinocchio/multibody/liegroup/liegroup.hpp"
 
 #include <boost/test/unit_test.hpp>
 #include <boost/utility/binary.hpp>