crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
Loading...
Searching...
No Matches
multibody.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_MULTIBODY_HPP_
10#define CROCODDYL_CORE_DATA_MULTIBODY_HPP_
11
12#include <pinocchio/multibody/data.hpp>
13
14#include "crocoddyl/multibody/fwd.hpp"
15#include "crocoddyl/core/data-collector-base.hpp"
16#include "crocoddyl/core/data/actuation.hpp"
17
18namespace crocoddyl {
19
20template <typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23
24 DataCollectorMultibodyTpl(pinocchio::DataTpl<Scalar>* const data) : pinocchio(data) {}
26
27 pinocchio::DataTpl<Scalar>* pinocchio;
28};
29
30template <typename Scalar>
32 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
33
34 DataCollectorActMultibodyTpl(pinocchio::DataTpl<Scalar>* const pinocchio,
35 boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation)
38};
39
40} // namespace crocoddyl
41
42#endif // CROCODDYL_CORE_DATA_MULTIBODY_HPP_