pinocchio  2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
se3-tpl.hpp
1 //
2 // Copyright (c) 2020 INRIA
3 //
4 
5 #ifndef __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__
6 #define __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__
7 
8 #include "pinocchio/spatial/fwd.hpp"
9 
10 namespace pinocchio
11 {
12  namespace internal
13  {
14  template<typename Scalar, int Options, typename NewScalar>
15  struct cast_call_normalize_method<SE3Tpl<::casadi::Matrix<Scalar>,Options>,NewScalar,::casadi::Matrix<Scalar>>
16  {
17  template<typename T>
18  static void run(T &)
19  {
20  // do nothing
21  }
22  };
23 
24  template<typename Scalar, int Options, typename NewScalar>
25  struct cast_call_normalize_method<SE3Tpl<Scalar,Options>,::casadi::Matrix<NewScalar>,Scalar>
26  {
27  template<typename T>
28  static void run(T &)
29  {
30  // do nothing
31  }
32  };
33 
34  } // namespace internal
35 
36 } // namespace pinocchio
37 
38 #endif // ifndef __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__
Main pinocchio namespace.
Definition: treeview.dox:24