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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2022, 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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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_CORE_DATA_CONTACTS_HPP_ |
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#define CROCODDYL_CORE_DATA_CONTACTS_HPP_ |
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#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
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#include "crocoddyl/multibody/data/multibody.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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struct DataCollectorContactTpl : virtual DataCollectorAbstractTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorContactTpl( |
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std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) |
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: DataCollectorAbstractTpl<Scalar>(), contacts(contacts) {} |
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virtual ~DataCollectorContactTpl() {} |
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std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts; |
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}; |
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template <typename Scalar> |
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struct DataCollectorMultibodyInContactTpl : DataCollectorMultibodyTpl<Scalar>, |
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DataCollectorContactTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorMultibodyInContactTpl( |
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pinocchio::DataTpl<Scalar>* const pinocchio, |
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std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) |
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: DataCollectorMultibodyTpl<Scalar>(pinocchio), |
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DataCollectorContactTpl<Scalar>(contacts) {} |
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virtual ~DataCollectorMultibodyInContactTpl() {} |
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}; |
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template <typename Scalar> |
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struct DataCollectorActMultibodyInContactTpl |
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: DataCollectorMultibodyInContactTpl<Scalar>, |
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DataCollectorActuationTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorActMultibodyInContactTpl( |
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pinocchio::DataTpl<Scalar>* const pinocchio, |
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std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, |
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std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) |
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: DataCollectorMultibodyInContactTpl<Scalar>(pinocchio, contacts), |
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DataCollectorActuationTpl<Scalar>(actuation) {} |
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virtual ~DataCollectorActMultibodyInContactTpl() {} |
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}; |
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template <typename Scalar> |
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struct DataCollectorJointActMultibodyInContactTpl |
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: DataCollectorActMultibodyInContactTpl<Scalar>, |
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DataCollectorJointTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorJointActMultibodyInContactTpl( |
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pinocchio::DataTpl<Scalar>* const pinocchio, |
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std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, |
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std::shared_ptr<JointDataAbstractTpl<Scalar> > joint, |
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std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) |
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: DataCollectorActMultibodyInContactTpl<Scalar>(pinocchio, actuation, |
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contacts), |
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DataCollectorJointTpl<Scalar>(joint) {} |
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virtual ~DataCollectorJointActMultibodyInContactTpl() {} |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorContactTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::DataCollectorMultibodyInContactTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::DataCollectorActMultibodyInContactTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::DataCollectorJointActMultibodyInContactTpl) |
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#endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_CONTACT_HPP_ |
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