From 83ac9c0c1fb3ab3dd9c09c7c702ddadee69e26ef Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 2 Aug 2016 13:39:07 +0200
Subject: [PATCH] [C++] Add missing forward declaration.
---
src/multibody/fwd.hpp | 7 +++++++
src/spatial/force.hpp | 2 --
src/spatial/fwd.hpp | 6 ++++++
src/spatial/inertia.hpp | 2 --
src/spatial/motion.hpp | 2 --
src/spatial/se3.hpp | 2 --
src/spatial/symmetric3.hpp | 2 --
7 files changed, 13 insertions(+), 10 deletions(-)
diff --git a/src/multibody/fwd.hpp b/src/multibody/fwd.hpp
index 4272cbb0a..24aa801cd 100644
--- a/src/multibody/fwd.hpp
+++ b/src/multibody/fwd.hpp
@@ -25,6 +25,13 @@ namespace se3
typedef Index GeomIndex;
typedef Index FrameIndex;
+ struct Frame;
+ struct Model;
+ struct Data;
+ struct GeometryModel;
+ struct GeometryData;
+ struct JointModel;
+ struct JointData;
} // namespace se3
#endif // #ifndef __se3_multibody_fwd_hpp__
diff --git a/src/spatial/force.hpp b/src/spatial/force.hpp
index 3e9da5fca..0b7fd37ad 100644
--- a/src/spatial/force.hpp
+++ b/src/spatial/force.hpp
@@ -208,8 +208,6 @@ namespace se3
}; // class ForceTpl
- typedef ForceTpl<double,0> Force;
-
} // namespace se3
#endif // ifndef __se3_force_hpp__
diff --git a/src/spatial/fwd.hpp b/src/spatial/fwd.hpp
index 51d224b0b..c3ee85e65 100644
--- a/src/spatial/fwd.hpp
+++ b/src/spatial/fwd.hpp
@@ -29,6 +29,12 @@ namespace se3
template<typename _Scalar, int _Options=0> class InertiaTpl;
template<typename _Scalar, int _Options=0> class Symmetric3Tpl;
+ typedef SE3Tpl <double,0> SE3;
+ typedef MotionTpl <double,0> Motion;
+ typedef ForceTpl <double,0> Force;
+ typedef InertiaTpl <double,0> Inertia;
+ typedef Symmetric3Tpl <double,0> Symmetric3;
+
template<class C> struct traits {};
#define SPATIAL_TYPEDEF_TEMPLATE(derived) \
diff --git a/src/spatial/inertia.hpp b/src/spatial/inertia.hpp
index 1d21cbdec..c6fe711b4 100644
--- a/src/spatial/inertia.hpp
+++ b/src/spatial/inertia.hpp
@@ -341,8 +341,6 @@ namespace se3
Symmetric3 I;
}; // class InertiaTpl
-
- typedef InertiaTpl<double,0> Inertia;
} // namespace se3
diff --git a/src/spatial/motion.hpp b/src/spatial/motion.hpp
index 999897f06..a15b3df42 100644
--- a/src/spatial/motion.hpp
+++ b/src/spatial/motion.hpp
@@ -247,8 +247,6 @@ namespace se3
template<typename S,int O>
ForceTpl<S,O> operator^( const MotionTpl<S,O> &m, const ForceTpl<S,O> &f ) { return m.cross(f); }
- typedef MotionTpl<double,0> Motion;
-
/////////////// BiasZero ///////////////
struct BiasZero;
diff --git a/src/spatial/se3.hpp b/src/spatial/se3.hpp
index 162fd87c7..116b35ae8 100644
--- a/src/spatial/se3.hpp
+++ b/src/spatial/se3.hpp
@@ -301,8 +301,6 @@ namespace se3
}; // class SE3Tpl
- typedef SE3Tpl<double,0> SE3;
-
} // namespace se3
#endif // ifndef __se3_se3_hpp__
diff --git a/src/spatial/symmetric3.hpp b/src/spatial/symmetric3.hpp
index f63f52795..7b61ecfb5 100644
--- a/src/spatial/symmetric3.hpp
+++ b/src/spatial/symmetric3.hpp
@@ -337,8 +337,6 @@ namespace se3
};
- typedef Symmetric3Tpl<double,0> Symmetric3;
-
} // namespace se3
#endif // ifndef __se3__symmetric3_hpp__
--
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