MathTypes.hpp

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#ifndef DART_MATH_MATHTYPES_HPP_
#define DART_MATH_MATHTYPES_HPP_
 
#include <map>
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/common/Deprecated.hpp"
#include "dart/common/Memory.hpp"
 
//------------------------------------------------------------------------------
// Types
//------------------------------------------------------------------------------
namespace Eigen {
 
using Vector6d = Matrix<double, 6, 1>;
using Matrix6d = Matrix<double, 6, 6>;
 
inline Vector6d compose(const Eigen::Vector3d& _angular,
                        const Eigen::Vector3d& _linear)
{
  Vector6d composition;
  composition << _angular, _linear;
  return composition;
}
 
// Deprecated
using EIGEN_V_VEC3D = std::vector<Eigen::Vector3d>;
 
// Deprecated
using EIGEN_VV_VEC3D = std::vector<std::vector<Eigen::Vector3d>>;
 
#if EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
 
// Deprecated in favor of dart::common::aligned_vector
template <typename _Tp>
using aligned_vector = std::vector<_Tp,
    dart::common::detail::aligned_allocator_cpp11<_Tp>>;
 
// Deprecated in favor of dart::common::aligned_map
template <typename _Key, typename _Tp, typename _Compare = std::less<_Key>>
using aligned_map = std::map<_Key, _Tp, _Compare,
    dart::common::detail::aligned_allocator_cpp11<std::pair<const _Key, _Tp>>>;
 
#else
 
// Deprecated in favor of dart::common::aligned_vector
template <typename _Tp>
using aligned_vector = std::vector<_Tp, Eigen::aligned_allocator<_Tp>>;
 
// Deprecated in favor of dart::common::aligned_map
template <typename _Key, typename _Tp, typename _Compare = std::less<_Key>>
using aligned_map = std::map<_Key, _Tp, _Compare,
    Eigen::aligned_allocator<std::pair<const _Key, _Tp>>>;
 
#endif
 
// Deprecated in favor of dart::common::make_aligned_shared
template <typename _Tp, typename... _Args>
DART_DEPRECATED(6.2)
std::shared_ptr<_Tp> make_aligned_shared(_Args&&... __args)
{
  return ::dart::common::make_aligned_shared<_Tp, _Args...>(
        std::forward<_Args>(__args)...);
}
 
} // namespace Eigen
 
namespace dart {
namespace math {
 
using Inertia = Eigen::Matrix6d;
using LinearJacobian = Eigen::Matrix<double, 3, Eigen::Dynamic>;
using AngularJacobian = Eigen::Matrix<double, 3, Eigen::Dynamic>;
using Jacobian = Eigen::Matrix<double, 6, Eigen::Dynamic>;
 
}  // namespace math
}  // namespace dart
 
#endif  // DART_MATH_MATHTYPES_HPP_