Commit 926cba6a authored by jcarpent's avatar jcarpent
Browse files

[Joint] Add forward declaration of Joint{Model,Data}

parent 9f79f6a2
......@@ -160,6 +160,7 @@ SET(${PROJECT_NAME}_SPATIAL_HEADERS
)
SET(${PROJECT_NAME}_MULTIBODY_JOINT_HEADERS
multibody/joint/fwd.hpp
multibody/joint/joint-base.hpp
multibody/joint/joint-dense.hpp
multibody/joint/joint-revolute.hpp
......
......@@ -33,8 +33,7 @@ namespace se3
struct Data;
struct GeometryModel;
struct GeometryData;
struct JointModel;
struct JointData;
// Forward declaration needed for Model::check
template<class D> struct AlgorithmCheckerBase;
......
//
// 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_joint_fwd_hpp__
#define __se3_joint_fwd_hpp__
namespace se3
{
enum { MAX_JOINT_NV = 6 };
struct JointModelComposite;
struct JointDataComposite;
struct JointModel;
struct JointData;
}
#endif // ifndef __se3_joint_fwd_hpp__
......@@ -18,7 +18,7 @@
#ifndef __se3_joint_variant_hpp__
#define __se3_joint_variant_hpp__
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/joint/fwd.hpp"
#include "pinocchio/multibody/joint/joint-dense.hpp"
#include "pinocchio/multibody/joint/joint-free-flyer.hpp"
#include "pinocchio/multibody/joint/joint-planar.hpp"
......@@ -36,12 +36,7 @@
namespace se3
{
enum { MAX_JOINT_NV = 6 };
struct JointComposite;
struct JointModelComposite;
struct JointDataComposite;
// The JointModelComposite contains several JointModel (which are JointModelVariant). Hence there is a circular
// dependency between JointModelComposite and JointModelVariant that can be resolved with the use of boost::recursive_variant
// For more details, see http://www.boost.org/doc/libs/1_58_0/doc/html/variant/tutorial.html#variant.tutorial.recursive
......
......@@ -26,7 +26,7 @@
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/frame.hpp"
#include "pinocchio/multibody/joint/joint-composite.hpp"
#include "pinocchio/multibody/joint/joint.hpp"
#include "pinocchio/deprecated.hh"
#include "pinocchio/tools/string-generator.hpp"
......
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