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spatial: Add fwd decl in some se3 headers to avoid issue with cppadcg
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jorisv committed Jan 9, 2025
1 parent 8fe05fa commit 321df8c
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12 changes: 12 additions & 0 deletions include/pinocchio/spatial/se3-expr-base.hpp
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namespace pinocchio
{
// Forward declaration
// TODO: This should go into spatial/fwd.hpp but because of a strange include path
// in context/cppadcg.hpp we can include se3.hpp without including spatial/fwd.hpp first.
template<typename Derived>
struct SE3ExprBase;
template<typename Derived>
struct SE3ExprNoalias;
template<typename RotProduct, typename TransProduct>
struct SE3ExprProduct;
template<typename RotProduct, typename TransProduct>
SE3ExprProduct<RotProduct, TransProduct>
make_se3_expr_product(RotProduct rot_prod, TransProduct trans_prod);

// Forward traits typedef
#define PINOCCHIO_SE3_EXPR_TYPEDEF_TPL(Derived) \
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8 changes: 8 additions & 0 deletions include/pinocchio/spatial/se3-tpl.hpp
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Expand Up @@ -17,6 +17,14 @@

namespace pinocchio
{
// Forward declarations
// TODO: This should go into spatial/fwd.hpp but because of a strange include path
// in context/cppadcg.hpp we can include se3.hpp without including spatial/fwd.hpp first.
template<typename _Scalar, int _Options>
struct SE3TplExpr;
template<typename _Scalar, int _Options>
struct SE3TplConstExpr;

template<typename _Scalar, int _Options>
struct traits<SE3Tpl<_Scalar, _Options>>
{
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