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/** \file itasc/kdl/utilities/traits.h
* \ingroup itasc
*/
#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;
}
/**
* @brief Traits are traits classes to determine the type of a derivative of another type.
*
* For geometric objects the "geometric" derivative is chosen. For example the derivative of a Rotation
* matrix is NOT a 3x3 matrix containing the derivative of the elements of a rotation matrix. The derivative
* of the rotation matrix is a Vector corresponding the rotational velocity. Mostly used in template classes
* and routines to derive a correct type when needed.
*
* You can see this as a compile-time lookuptable to find the type of the derivative.
*
* Example
* \verbatim
Rotation R;
Traits<Rotation> dR;
\endverbatim
*/
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
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