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

CMakeLists.txt

@@ -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

src/multibody/fwd.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;

src/multibody/joint/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_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__

src/multibody/joint/joint-variant.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 

src/multibody/model.hpp

@@ -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"