| Directory: | ./ |
|---|---|
| File: | unittest/factory/actuation.hxx |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 3 | 3 | 100.0% |
| Branches: | 2 | 4 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "actuation.hpp" | ||
| 10 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | namespace unittest { | ||
| 14 | |||
| 15 | template <typename Scalar> | ||
| 16 | 17973 | void updateActuation( | |
| 17 | const std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<Scalar>>& model, | ||
| 18 | const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<Scalar>>& data, | ||
| 19 | const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x, | ||
| 20 | const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& u) { | ||
| 21 |
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17973 | model->calc(data, x, u); |
| 22 | 17973 | } | |
| 23 | |||
| 24 | } // namespace unittest | ||
| 25 | } // namespace crocoddyl | ||
| 26 |