DataTypes.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file DataTypes.hpp
 *
 *  Created on: May 13, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef DATA_TYPES_HPP_
#define DATA_TYPES_HPP_

#include <Eigen/Core>

#include <string>

// Check GCC
#if __GNUC__
#if __x86_64__ || __ppc64__
#define SCL_64_BIT
#else
#define SCL_32_BIT
#endif
#endif

namespace scl
{

  typedef bool sBool;
  typedef char sChar;
#ifdef SCL_64_BIT

  typedef unsigned int sUInt;
#else
  typedef unsigned long sUInt;
#endif

  typedef int sInt;
  typedef long long sLongLong;

  typedef double sFloat;

  struct sFloat3
  { sFloat data_[3]; };

  typedef double sClock;

  #define S_NULL 0

  #define SCL_INTEGRATION_TSTEP 0.001

  #define SCL_MINIMUM_POSITION_CHANGE 0.0001

  struct sString2
  { std::string data_[2]; };


  typedef enum {
    JOINT_TYPE_PRISMATIC_X = 0,
    JOINT_TYPE_PRISMATIC_Y = 1,
    JOINT_TYPE_PRISMATIC_Z = 2,
    JOINT_TYPE_REVOLUTE_X = 4,
    JOINT_TYPE_REVOLUTE_Y = 5,
    JOINT_TYPE_REVOLUTE_Z = 6,
    JOINT_TYPE_SPHERICAL = 8,
    JOINT_TYPE_SPLINE = 9,
    JOINT_TYPE_NOTASSIGNED = -1
  }EJointType;

  typedef enum {
    RENDER_TYPE_SPHERE = 0,
    RENDER_TYPE_CYLINDER = 1,
    RENDER_TYPE_ELLIPSOID = 2
  }ERenderType;

  typedef Eigen::Matrix<sFloat, 6, 1> sSpatialVector; 
  typedef Eigen::Matrix<sFloat, 6, 6> sSpatialXForm;  

}

namespace Eigen
{
  typedef Matrix<scl::sFloat, 6, 1> Vector6d;  
  typedef Matrix<scl::sFloat, 6, 6> Matrix6d;  
}

#endif /* DATA_TYPES_HPP_ */