[C++] Add forward declaration of typedef Index

CMakeLists.txt

@@ -123,6 +123,7 @@ SET(${PROJECT_NAME}_MULTIBODY_PARSER_HEADERS
   )
 
 SET(${PROJECT_NAME}_MULTIBODY_HEADERS
+  multibody/fwd.hpp
   multibody/constraint.hpp
   multibody/force-set.hpp
   multibody/joint.hpp

src/multibody/fwd.hpp

+//
+// Copyright (c) 2016 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_multibody_fwd_hpp__
+#define __se3_multibody_fwd_hpp__
+
+namespace se3
+{
+  typedef std::size_t Index;
+  typedef Index JointIndex;
+  typedef Index GeomIndex;
+  typedef Index FrameIndex;
+  
+} // namespace se3
+
+#endif // #ifndef __se3_multibody_fwd_hpp__

src/multibody/model.hpp

@@ -25,6 +25,7 @@
 #include "pinocchio/spatial/motion.hpp"
 #include "pinocchio/spatial/inertia.hpp"
 #include "pinocchio/spatial/frame.hpp"
+#include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/multibody/joint/joint-variant.hpp"
 #include "pinocchio/tools/string-generator.hpp"
 #include <iostream>
@@ -40,20 +41,20 @@ namespace se3
 {
   class Model;
   class Data;
-
+  
   class Model
   {
   public:
-    typedef std::size_t Index;
-    typedef Index JointIndex;              // For better comprehension of what object we are working with
-    typedef Index GeomIndex;              //
-    typedef Index FrameIndex;             //
+    typedef Index Index;
+    typedef JointIndex JointIndex;
+    typedef GeomIndex GeomIndex;
+    typedef FrameIndex FrameIndex;
 
     int nq;                               // Dimension of the configuration representation
     int nv;                               // Dimension of the velocity vector space
     int nbody;                            // Number of bodies (= number of joints + 1)
     int nFixBody;                         // Number of fixed-bodies (= number of fixed-joints)
-    int nOperationalFrames;                     // Number of extra frames
+    int nOperationalFrames;               // Number of operational frames
 
     std::vector<Inertia> inertias;        // Spatial inertias of the body <i> in the supporting joint frame <i>
     std::vector<SE3> jointPlacements;     // Placement (SE3) of the input of joint <i> in parent joint output <li>

src/spatial/frame.hpp

@@ -20,6 +20,7 @@
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/se3.hpp"
+#include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/tools/string-generator.hpp"
 
 #include <Eigen/StdVector>
@@ -33,8 +34,7 @@ namespace se3
   ///
   struct Frame
   {
-    typedef std::size_t Index;
-    typedef Index JointIndex;
+    typedef JointIndex JointIndex;
       
     Frame() : name(random(8)), parent_id(), framePlacement() {} // needed by EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION
     
@@ -45,7 +45,7 @@ namespace se3
     /// \param[in] parent_id Index of the parent joint in the kinematic tree.
     /// \param[in] frame_placement Placement of the frame wrt the parent joint frame.
     ///
-    Frame(const std::string & name, const Index parent_id, const SE3 & frame_placement):
+    Frame(const std::string & name, const JointIndex parent_id, const SE3 & frame_placement):
     name(name)
     , parent_id(parent_id)
     , framePlacement(frame_placement)
@@ -66,7 +66,7 @@ namespace se3
     std::string name;
     
     /// \brief Index of the parent joint.
-    Index parent_id;
+    JointIndex parent_id;
     
     /// \brief Placement of the frame wrt the parent joint.
     SE3 framePlacement;