JointStateSpaceHelpers.hpp

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#ifndef AIKIDO_STATESPACE_DART_JOINTSTATESPACEHELPERS_HPP_
#define AIKIDO_STATESPACE_DART_JOINTSTATESPACEHELPERS_HPP_
 
#include <memory>
 
#include <dart/dynamics/dynamics.hpp>
 
#include "aikido/statespace/dart/JointStateSpace.hpp"
 
namespace aikido {
namespace statespace {
namespace dart {
 
template <class JointType>
std::unique_ptr<JointStateSpace> createJointStateSpaceFor(JointType* joint);
 
std::unique_ptr<JointStateSpace> createJointStateSpace(
    const ::dart::dynamics::Joint* joint);
 
} // namespace dart
} // namespace statespace
} // namespace aikido
 
#include "detail/JointStateSpaceHelpers-impl.hpp"
 
#endif // ifndef AIKIDO_STATESPACE_DART_JOINTSTATESPACEHELPERS_HPP_