9 #ifndef CROCODDYL_CORE_DATA_MULTIBODY_HPP_ 10 #define CROCODDYL_CORE_DATA_MULTIBODY_HPP_ 12 #include <pinocchio/multibody/data.hpp> 14 #include "crocoddyl/multibody/fwd.hpp" 15 #include "crocoddyl/core/data-collector-base.hpp" 16 #include "crocoddyl/core/data/actuation.hpp" 20 template <
typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 virtual ~DataCollectorMultibodyTpl() {}
27 pinocchio::DataTpl<Scalar>* pinocchio;
30 template <
typename Scalar>
32 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37 virtual ~DataCollectorActMultibodyTpl() {}
42 #endif // CROCODDYL_CORE_DATA_MULTIBODY_HPP_