1 ///@file Configuration for Inverse Dynamics Library with Eigen
2 #ifndef INVDYNCONFIG_EIGEN_HPP_
3 #define INVDYNCONFIG_EIGEN_HPP_
4 #define btInverseDynamics btInverseDynamicsEigen
5 #ifdef BT_USE_DOUBLE_PRECISION
6 // choose double/single precision version
7 typedef double idScalar;
9 typedef float idScalar;
12 // use std::vector for arrays
14 // this is to make it work with C++2003, otherwise we could do this
15 // template <typename T>
16 // using idArray = std::vector<T>;
20 typedef std::vector<T> type;
22 typedef std::vector<int>::size_type idArrayIdx;
23 // default to standard malloc/free
25 #define ID_DECLARE_ALIGNED_ALLOCATOR() EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 // Note on interfaces:
27 // Eigen::Matrix has data(), to get c-array storage
28 // HOWEVER: default storage is column-major!
29 #define ID_LINEAR_MATH_USE_EIGEN
30 #include "Eigen/Eigen"
31 #include "details/IDEigenInterface.hpp"