Commit e69978b3 authored by jcarpent's avatar jcarpent
Browse files

[Spatial] Forward declaration of Motion{Dense,Ref,Tpl} and BiasZero

parent 575dc8d5
......@@ -24,7 +24,12 @@
namespace se3
{
template<typename _Scalar, int _Options=0> class SE3Tpl;
template<typename Derived> class MotionBase;
template<typename Derived> class MotionDense;
template<typename Vector6ArgType> class MotionRef;
template<typename _Scalar, int _Options=0> class MotionTpl;
struct BiasZero;
template<typename _Scalar, int _Options=0> class ForceTpl;
template<typename _Scalar, int _Options=0> class InertiaTpl;
template<typename _Scalar, int _Options=0> class Symmetric3Tpl;
......
......@@ -21,8 +21,7 @@
namespace se3
{
struct BiasZero;
template<>
struct traits<BiasZero>
{
......@@ -37,7 +36,6 @@ namespace se3
typedef Vector3 LinearType;
typedef const Vector3 ConstLinearType;
typedef Motion MotionPlain;
typedef Force ForcePlain;
enum {
LINEAR = 0,
ANGULAR = 3
......@@ -53,6 +51,9 @@ namespace se3
static bool isEqual_impl(const MotionDense<D2> & other)
{ return other.linear().isZero() && other.angular().isZero(); }
template<typename D2>
static void addTo(const MotionDense<D2> &) {}
}; // struct BiasZero
template<typename M1>
......
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