crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
impulses.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_DATA_IMPULSES_HPP_
10 #define CROCODDYL_CORE_DATA_IMPULSES_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/impulses/multiple-impulses.hpp"
17 
18 namespace crocoddyl {
19 
20 template <typename Scalar>
22  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 
24  DataCollectorImpulseTpl(boost::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses)
25  : DataCollectorAbstractTpl<Scalar>(), impulses(impulses) {}
26  virtual ~DataCollectorImpulseTpl() {}
27 
28  boost::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses;
29 };
30 
31 template <typename Scalar>
33  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34 
35  DataCollectorMultibodyInImpulseTpl(pinocchio::DataTpl<Scalar>* const pinocchio,
36  boost::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses)
38  virtual ~DataCollectorMultibodyInImpulseTpl() {}
39 };
40 
41 } // namespace crocoddyl
42 
43 #endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_IMPULSE_HPP_