traits.h

Go to the documentation of this file.

#ifndef KDLPV_TRAITS_H 
#define KDLPV_TRAITS_H 

#include "utility.h"

 
// forwards declarations :
namespace KDL {
   class Frame;
    class Rotation;
    class Vector;
    class Twist;
    class Wrench;
        class FrameVel;
        class RotationVel;
        class VectorVel;
        class TwistVel;
}


template <typename T>
struct Traits {
        typedef T valueType;
        typedef T derivType;
};

template <>
struct Traits<KDL::Frame> {
        typedef KDL::Frame valueType;
        typedef KDL::Twist derivType;
};
template <>
struct Traits<KDL::Twist> {
        typedef KDL::Twist valueType;
        typedef KDL::Twist derivType;
};
template <>
struct Traits<KDL::Wrench> {
        typedef KDL::Wrench valueType;
        typedef KDL::Wrench derivType;
};

template <>
struct Traits<KDL::Rotation> {
        typedef KDL::Rotation valueType;
        typedef KDL::Vector derivType;
};

template <>
struct Traits<KDL::Vector> {
        typedef KDL::Vector valueType;
        typedef KDL::Vector derivType;
};

template <>
struct Traits<double> {
        typedef double valueType;
        typedef double derivType;
};

template <>
struct Traits<float> {
        typedef float valueType;
        typedef float derivType;
};

template <>
struct Traits<KDL::FrameVel> {
        typedef KDL::Frame valueType;
        typedef KDL::TwistVel derivType;
};
template <>
struct Traits<KDL::TwistVel> {
        typedef KDL::Twist valueType;
        typedef KDL::TwistVel derivType;
};

template <>
struct Traits<KDL::RotationVel> {
        typedef KDL::Rotation valueType;
        typedef KDL::VectorVel derivType;
};

template <>
struct Traits<KDL::VectorVel> {
        typedef KDL::Vector valueType;
        typedef KDL::VectorVel derivType;
};



#endif