types.h

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#ifndef OPEN_WALKER_CORE_TYPES_H
#define OPEN_WALKER_CORE_TYPES_H

#include <ow_core/rotation3.h>
#include <ow_core/vector3.h>

#include <ow_core/vector_dof.h>
#include <ow_core/joint_position.h>
#include <ow_core/joint_velocity.h>
#include <ow_core/joint_acceleration.h>
#include <ow_core/joint_effort.h>
#include <ow_core/joint_state.h>

#include <ow_core/wrench.h>
#include <ow_core/force.h>
#include <ow_core/moment.h>

#include <ow_core/angular_position.h>
#include <ow_core/angular_velocity.h>
#include <ow_core/angular_acceleration.h>

#include <ow_core/linear_position.h>
#include <ow_core/linear_velocity.h>
#include <ow_core/linear_acceleration.h>

#include <ow_core/cartesian_position.h>
#include <ow_core/cartesian_velocity.h>
#include <ow_core/cartesian_acceleration.h>

#include <ow_core/homogeneous_transformation.h>

// the namespace for the configured types
namespace ow
{
  typedef ow_core::VectorDof<OW_VECTOR_DOF_SCALAR,OW_VECTOR_DOF_ROWS> VectorDof;
  typedef ow_core::JointPosition<OW_VECTOR_DOF_SCALAR,OW_VECTOR_DOF_ROWS> JointPosition;
  typedef ow_core::JointVelocity<OW_VECTOR_DOF_SCALAR,OW_VECTOR_DOF_ROWS> JointVelocity;
  typedef ow_core::JointAcceleration<OW_VECTOR_DOF_SCALAR,OW_VECTOR_DOF_ROWS> JointAcceleration;
  typedef ow_core::JointEffort<OW_VECTOR_DOF_SCALAR,OW_VECTOR_DOF_ROWS> JointEffort;
  typedef ow_core::JointState<OW_VECTOR_DOF_SCALAR,OW_VECTOR_DOF_ROWS> JointState;

  typedef ow_core::Rotation3<OW_TYPES_SCALAR> Rotation3;
  typedef ow_core::Vector3<OW_TYPES_SCALAR> Vector3;

  typedef ow_core::Wrench<OW_TYPES_SCALAR> Wrench;
  typedef ow_core::Force<OW_TYPES_SCALAR> Force;
  typedef ow_core::Moment<OW_TYPES_SCALAR> Moment;

  typedef ow_core::AngularPosition<OW_TYPES_SCALAR> AngularPosition;
  typedef ow_core::AngularVelocity<OW_TYPES_SCALAR> AngularVelocity;
  typedef ow_core::AngularAcceleration<OW_TYPES_SCALAR> AngularAcceleration;

  typedef ow_core::LinearPosition<OW_TYPES_SCALAR> LinearPosition;
  typedef ow_core::LinearVelocity<OW_TYPES_SCALAR> LinearVelocity;
  typedef ow_core::LinearAcceleration<OW_TYPES_SCALAR> LinearAcceleration;

  typedef ow_core::CartesianPosition<OW_TYPES_SCALAR> CartesianPosition;
  typedef ow_core::CartesianVelocity<OW_TYPES_SCALAR> CartesianVelocity;
  typedef ow_core::CartesianAcceleration<OW_TYPES_SCALAR> CartesianAcceleration;

  typedef ow_core::HomogeneousTransformation<OW_TYPES_SCALAR> HomogeneousTransformation;
}




#endif  // OPEN_WALKER_CORE_TYPES_H