9 #include "crocoddyl/core/utils/exception.hpp" 10 #include "crocoddyl/multibody/impulse-base.hpp" 14 template <
typename Scalar>
15 ImpulseModelAbstractTpl<Scalar>::ImpulseModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
16 const std::size_t& ni)
17 : state_(state), ni_(ni) {}
19 template <
typename Scalar>
20 ImpulseModelAbstractTpl<Scalar>::~ImpulseModelAbstractTpl() {}
22 template <
typename Scalar>
23 void ImpulseModelAbstractTpl<Scalar>::updateForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
24 const MatrixXs& df_dq)
const {
26 (static_cast<std::size_t>(df_dq.rows()) == ni_ || static_cast<std::size_t>(df_dq.cols()) == state_->get_nv()),
27 "df_dq has wrong dimension");
31 template <
typename Scalar>
32 boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> > ImpulseModelAbstractTpl<Scalar>::createData(
33 pinocchio::DataTpl<Scalar>*
const data) {
34 return boost::make_shared<ImpulseDataAbstract>(
this, data);
37 template <
typename Scalar>
38 const boost::shared_ptr<StateMultibodyTpl<Scalar> >& ImpulseModelAbstractTpl<Scalar>::get_state()
const {
42 template <
typename Scalar>
43 const std::size_t& ImpulseModelAbstractTpl<Scalar>::get_ni()
const {
Definition: action-base.hxx:11