Verified Commit c5eee39f authored by jcarpent's avatar jcarpent Committed by Justin Carpentier
Browse files

[Joint] Add JointDataVariant inside JointCollection

parent e76b7a3c
......@@ -89,15 +89,60 @@ namespace se3
JointModelRUBX, JointModelRUBY, JointModelRUBZ,
boost::recursive_wrapper<JointModelComposite>
> JointModelVariant;
// Joint Revolute
typedef JointDataRevoluteTpl<Scalar,Options,0> JointDataRX;
typedef JointDataRevoluteTpl<Scalar,Options,1> JointDataRY;
typedef JointDataRevoluteTpl<Scalar,Options,2> JointDataRZ;
// Joint Revolute Unaligned
typedef JointDataRevoluteUnalignedTpl<Scalar,Options> JointDataRevoluteUnaligned;
// Joint Revolute UBounded
typedef JointDataRevoluteUnboundedTpl<Scalar,Options,0> JointDataRUBX;
typedef JointDataRevoluteUnboundedTpl<Scalar,Options,1> JointDataRUBY;
typedef JointDataRevoluteUnboundedTpl<Scalar,Options,2> JointDataRUBZ;
// Joint Prismatic
typedef JointDataPrismaticTpl<Scalar,Options,0> JointDataPX;
typedef JointDataPrismaticTpl<Scalar,Options,1> JointDataPY;
typedef JointDataPrismaticTpl<Scalar,Options,2> JointDataPZ;
// Joint Prismatic Unaligned
typedef JointDataPrismaticUnalignedTpl<Scalar,Options> JointDataPrismaticUnaligned;
// Joint Spherical
typedef JointDataSphericalTpl<Scalar,Options> JointDataSpherical;
// Joint Spherical ZYX
typedef JointDataSphericalZYXTpl<Scalar,Options> JointDataSphericalZYX;
// Joint Translation
typedef JointDataTranslationTpl<Scalar,Options> JointDataTranslation;
// Joint FreeFlyer
typedef JointDataFreeFlyerTpl<Scalar,Options> JointDataFreeFlyer;
// Joint Planar
typedef JointDataPlanarTpl<Scalar,Options> JointDataPlanar;
// Joint Composite
typedef JointDataCompositeTpl<JointCollectionDefaultTpl> JointDataComposite;
typedef boost::variant<
JointDataRX, JointDataRY, JointDataRZ
,JointDataRevoluteUnaligned, JointDataSpherical,
JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ,
JointDataPrismaticUnaligned, JointDataFreeFlyer, JointDataPlanar, JointDataTranslation,
JointDataRUBX, JointDataRUBY, JointDataRUBZ,
boost::recursive_wrapper<JointDataComposite>
> JointDataVariant;
};
typedef JointCollectionDefault::JointModelVariant JointModelVariant;
typedef boost::variant< JointDataRX, JointDataRY, JointDataRZ, JointDataRevoluteUnaligned, JointDataSpherical,
JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned,
JointDataFreeFlyer, JointDataPlanar, JointDataTranslation,
JointDataRUBX, JointDataRUBY, JointDataRUBZ,
boost::recursive_wrapper<JointDataComposite> > JointDataVariant;
typedef JointCollectionDefault::JointDataVariant JointDataVariant;
} // namespace se3
......
......@@ -72,7 +72,7 @@ namespace se3
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
// typedef typename JointCollection::JointDataVariant JointDataVariant;
typedef typename JointCollection::JointDataVariant JointDataVariant;
typedef JointDataBase< JointDataCompositeTpl<JointCollection> > Base;
typedef container::aligned_vector<JointDataVariant> JointDataVector;
......
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