crocoddyl
1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
multibody.hpp
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// BSD 3-Clause License
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//
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// Copyright (C) 2019-2020, University of Edinburgh
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// Copyright note valid unless otherwise stated in individual files.
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// All rights reserved.
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#ifndef CROCODDYL_CORE_DATA_MULTIBODY_HPP_
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#define CROCODDYL_CORE_DATA_MULTIBODY_HPP_
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#include <pinocchio/multibody/data.hpp>
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#include "crocoddyl/multibody/fwd.hpp"
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#include "crocoddyl/core/data-collector-base.hpp"
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#include "crocoddyl/core/data/actuation.hpp"
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namespace
crocoddyl {
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template
<
typename
Scalar>
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struct
DataCollectorMultibodyTpl
:
virtual
DataCollectorAbstractTpl
<Scalar> {
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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DataCollectorMultibodyTpl
(pinocchio::DataTpl<Scalar>*
const
data) : pinocchio(data) {}
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virtual
~
DataCollectorMultibodyTpl
() {}
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pinocchio::DataTpl<Scalar>* pinocchio;
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};
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template
<
typename
Scalar>
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struct
DataCollectorActMultibodyTpl
:
DataCollectorMultibodyTpl
<Scalar>,
DataCollectorActuationTpl
<Scalar> {
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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DataCollectorActMultibodyTpl
(pinocchio::DataTpl<Scalar>*
const
pinocchio,
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boost::shared_ptr<
ActuationDataAbstractTpl<Scalar>
> actuation)
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:
DataCollectorMultibodyTpl<Scalar>
(pinocchio),
DataCollectorActuationTpl<Scalar>
(actuation) {}
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virtual
~
DataCollectorActMultibodyTpl
() {}
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};
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}
// namespace crocoddyl
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#endif
// CROCODDYL_CORE_DATA_MULTIBODY_HPP_
crocoddyl::ActuationDataAbstractTpl
Definition:
actuation-base.hpp:138
crocoddyl::DataCollectorAbstractTpl
Definition:
data-collector-base.hpp:18
crocoddyl::DataCollectorActMultibodyTpl
Definition:
multibody.hpp:31
crocoddyl::DataCollectorActuationTpl
Definition:
actuation.hpp:21
crocoddyl::DataCollectorMultibodyTpl
Definition:
multibody.hpp:21
include
crocoddyl
multibody
data
multibody.hpp
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