Joints - Add a first implementation of joint spline

Author: MegMll

include/pinocchio/bindings/python/context/generic.hpp

@@ -132,6 +132,9 @@ namespace pinocchio
       typedef JointModelUniversalTpl<Scalar> JointModelUniversal;
       typedef JointDataUniversalTpl<Scalar> JointDataUniversal;
 
+      typedef JointModelSplineTpl<Scalar> JointModelSpline;
+      typedef JointDataSplineTpl<Scalar> JointDataSpline;
+
       typedef JointModelTranslationTpl<Scalar> JointModelTranslation;
       typedef JointDataTranslationTpl<Scalar> JointDataTranslation;
 

include/pinocchio/multibody/joint/fwd.hpp

@@ -130,6 +130,14 @@ namespace pinocchio
   struct JointDataTranslationTpl;
   typedef JointDataTranslationTpl<context::Scalar> JointDataTranslation;
 
+  template<typename Scalar, int Options = context::Options>
+  struct JointModelSplineTpl;
+  typedef JointModelSplineTpl<context::Scalar> JointModelSpline;
+
+  template<typename Scalar, int Options = context::Options>
+  struct JointDataSplineTpl;
+  typedef JointDataSplineTpl<context::Scalar> JointDataSpline;
+
   template<typename Scalar, int Options = context::Options>
   struct JointCollectionDefaultTpl;
   typedef JointCollectionDefaultTpl<context::Scalar> JointCollectionDefault;

include/pinocchio/multibody/joint/joint-collection.hpp

@@ -82,6 +82,9 @@ namespace pinocchio
     // Joint Universal
     typedef JointModelUniversalTpl<Scalar, Options> JointModelUniversal;
 
+    // Joint Spline
+    typedef JointModelSplineTpl<Scalar, Options> JointModelSpline;
+
     typedef boost::variant<
       //    JointModelVoid,
       JointModelRX,
@@ -106,6 +109,7 @@ namespace pinocchio
       JointModelHz,
       JointModelHelicalUnaligned,
       JointModelUniversal,
+      JointModelSpline,
       boost::recursive_wrapper<JointModelComposite>,
       boost::recursive_wrapper<JointModelMimic>>
       JointModelVariant;
@@ -169,6 +173,9 @@ namespace pinocchio
     // Joint Universal
     typedef JointDataUniversalTpl<Scalar, Options> JointDataUniversal;
 
+    // Joint Spline
+    typedef JointDataSplineTpl<Scalar, Options> JointDataSpline;
+
     typedef boost::variant<
       //    JointDataVoid
       JointDataRX,
@@ -193,6 +200,7 @@ namespace pinocchio
       JointDataHz,
       JointDataHelicalUnaligned,
       JointDataUniversal,
+      JointDataSpline,
       boost::recursive_wrapper<JointDataComposite>,
       boost::recursive_wrapper<JointDataMimic>>
       JointDataVariant;