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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "actuation.hpp" |
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#include "crocoddyl/core/actuation-base.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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template <typename Scalar> |
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void updateActuation( |
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const std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<Scalar>>& model, |
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const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<Scalar>>& data, |
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const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x, |
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const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& u) { |
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model->calc(data, x, u); |
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} |
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} // namespace unittest |
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} // namespace crocoddyl |
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