crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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contacts.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2020, University of Edinburgh
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_CORE_DATA_CONTACTS_HPP_
10#define CROCODDYL_CORE_DATA_CONTACTS_HPP_
11
12#include <boost/shared_ptr.hpp>
13
14#include "crocoddyl/multibody/fwd.hpp"
15#include "crocoddyl/multibody/data/multibody.hpp"
16#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
17
18namespace crocoddyl {
19
20template <typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23
25 : DataCollectorAbstractTpl<Scalar>(), contacts(contacts) {}
26 virtual ~DataCollectorContactTpl() {}
27
28 boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts;
29};
30
31template <typename Scalar>
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34
35 DataCollectorMultibodyInContactTpl(pinocchio::DataTpl<Scalar>* const pinocchio,
36 boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts)
39};
40
41template <typename Scalar>
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45
46 DataCollectorActMultibodyInContactTpl(pinocchio::DataTpl<Scalar>* const pinocchio,
47 boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation,
48 boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts)
49 : DataCollectorMultibodyInContactTpl<Scalar>(pinocchio, contacts),
52};
53
54} // namespace crocoddyl
55
56#endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_CONTACT_HPP_
Define the multi-contact data.