Commit fc7e1670 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

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

parent c93253cc
......@@ -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;
......
......@@ -31,9 +31,6 @@
namespace se3
{
struct JointDataFreeFlyer;
struct JointModelFreeFlyer;
struct ConstraintIdentity;
template <>
......
......@@ -30,9 +30,6 @@
namespace se3
{
struct JointDataPlanar;
struct JointModelPlanar;
struct MotionPlanar;
template <>
struct traits< MotionPlanar >
......
......@@ -28,9 +28,6 @@
namespace se3
{
struct JointDataPrismaticUnaligned;
struct JointModelPrismaticUnaligned;
struct MotionPrismaticUnaligned;
template <>
......
......@@ -27,9 +27,6 @@
namespace se3
{
template<int axis> struct JointDataPrismatic;
template<int axis> struct JointModelPrismatic;
namespace prismatic
{
......
......@@ -28,9 +28,6 @@
namespace se3
{
struct JointDataRevoluteUnaligned;
struct JointModelRevoluteUnaligned;
struct MotionRevoluteUnaligned;
template <>
struct traits < MotionRevoluteUnaligned >
......
......@@ -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> >
{
......
......@@ -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;
......
......@@ -29,9 +29,6 @@
namespace se3
{
struct JointDataSphericalZYX;
struct JointModelSphericalZYX;
template <typename _Scalar, int _Options>
struct JointSphericalZYXTpl
......
......@@ -31,9 +31,6 @@
namespace se3
{
struct JointDataSpherical;
struct JointModelSpherical;
struct MotionSpherical;
template <>
struct traits< MotionSpherical >
......
......@@ -29,9 +29,6 @@
namespace se3
{
struct JointDataTranslation;
struct JointModelTranslation;
struct MotionTranslation;
template <>
struct traits < MotionTranslation >
......
......@@ -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 {
......
......@@ -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>
......
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