| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2022, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_DATA_CONTACTS_HPP_ | ||
| 10 | #define CROCODDYL_CORE_DATA_CONTACTS_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/multibody/contacts/multiple-contacts.hpp" | ||
| 13 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 14 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | template <typename Scalar> | ||
| 19 | struct DataCollectorContactTpl : virtual DataCollectorAbstractTpl<Scalar> { | ||
| 20 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 21 | |||
| 22 | ✗ | DataCollectorContactTpl( | |
| 23 | std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 24 | ✗ | : DataCollectorAbstractTpl<Scalar>(), contacts(contacts) {} | |
| 25 | ✗ | virtual ~DataCollectorContactTpl() {} | |
| 26 | |||
| 27 | std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts; | ||
| 28 | }; | ||
| 29 | |||
| 30 | template <typename Scalar> | ||
| 31 | struct DataCollectorMultibodyInContactTpl : DataCollectorMultibodyTpl<Scalar>, | ||
| 32 | DataCollectorContactTpl<Scalar> { | ||
| 33 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 34 | |||
| 35 | ✗ | DataCollectorMultibodyInContactTpl( | |
| 36 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 37 | std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 38 | : DataCollectorMultibodyTpl<Scalar>(pinocchio), | ||
| 39 | ✗ | DataCollectorContactTpl<Scalar>(contacts) {} | |
| 40 | ✗ | virtual ~DataCollectorMultibodyInContactTpl() {} | |
| 41 | }; | ||
| 42 | |||
| 43 | template <typename Scalar> | ||
| 44 | struct DataCollectorActMultibodyInContactTpl | ||
| 45 | : DataCollectorMultibodyInContactTpl<Scalar>, | ||
| 46 | DataCollectorActuationTpl<Scalar> { | ||
| 47 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 48 | |||
| 49 | ✗ | DataCollectorActMultibodyInContactTpl( | |
| 50 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 51 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, | ||
| 52 | std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 53 | : DataCollectorMultibodyInContactTpl<Scalar>(pinocchio, contacts), | ||
| 54 | ✗ | DataCollectorActuationTpl<Scalar>(actuation) {} | |
| 55 | ✗ | virtual ~DataCollectorActMultibodyInContactTpl() {} | |
| 56 | }; | ||
| 57 | |||
| 58 | template <typename Scalar> | ||
| 59 | struct DataCollectorJointActMultibodyInContactTpl | ||
| 60 | : DataCollectorActMultibodyInContactTpl<Scalar>, | ||
| 61 | DataCollectorJointTpl<Scalar> { | ||
| 62 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 63 | |||
| 64 | ✗ | DataCollectorJointActMultibodyInContactTpl( | |
| 65 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 66 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, | ||
| 67 | std::shared_ptr<JointDataAbstractTpl<Scalar> > joint, | ||
| 68 | std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 69 | : DataCollectorActMultibodyInContactTpl<Scalar>(pinocchio, actuation, | ||
| 70 | contacts), | ||
| 71 | ✗ | DataCollectorJointTpl<Scalar>(joint) {} | |
| 72 | ✗ | virtual ~DataCollectorJointActMultibodyInContactTpl() {} | |
| 73 | }; | ||
| 74 | |||
| 75 | } // namespace crocoddyl | ||
| 76 | |||
| 77 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorContactTpl) | ||
| 78 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 79 | crocoddyl::DataCollectorMultibodyInContactTpl) | ||
| 80 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 81 | crocoddyl::DataCollectorActMultibodyInContactTpl) | ||
| 82 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 83 | crocoddyl::DataCollectorJointActMultibodyInContactTpl) | ||
| 84 | |||
| 85 | #endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_CONTACT_HPP_ | ||
| 86 |