| Directory: | ./ |
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| File: | include/crocoddyl/multibody/data/contacts.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 12 | 12 | 100.0% |
| Branches: | 4 | 8 | 50.0% |
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| 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 <boost/shared_ptr.hpp> | ||
| 13 | |||
| 14 | #include "crocoddyl/multibody/contacts/multiple-contacts.hpp" | ||
| 15 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 16 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | template <typename Scalar> | ||
| 21 | struct DataCollectorContactTpl : virtual DataCollectorAbstractTpl<Scalar> { | ||
| 22 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 23 | |||
| 24 | 70994 | DataCollectorContactTpl<Scalar>( | |
| 25 | boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 26 | 70994 | : DataCollectorAbstractTpl<Scalar>(), contacts(contacts) {} | |
| 27 | 71005 | virtual ~DataCollectorContactTpl() {} | |
| 28 | |||
| 29 | boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts; | ||
| 30 | }; | ||
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | struct DataCollectorMultibodyInContactTpl : DataCollectorMultibodyTpl<Scalar>, | ||
| 34 | DataCollectorContactTpl<Scalar> { | ||
| 35 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 36 | |||
| 37 | 70993 | DataCollectorMultibodyInContactTpl( | |
| 38 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 39 | boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 40 | : DataCollectorMultibodyTpl<Scalar>(pinocchio), | ||
| 41 |
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70993 | DataCollectorContactTpl<Scalar>(contacts) {} |
| 42 | 71002 | virtual ~DataCollectorMultibodyInContactTpl() {} | |
| 43 | }; | ||
| 44 | |||
| 45 | template <typename Scalar> | ||
| 46 | struct DataCollectorActMultibodyInContactTpl | ||
| 47 | : DataCollectorMultibodyInContactTpl<Scalar>, | ||
| 48 | DataCollectorActuationTpl<Scalar> { | ||
| 49 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 50 | |||
| 51 | 70997 | DataCollectorActMultibodyInContactTpl( | |
| 52 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 53 | boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, | ||
| 54 | boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 55 | : DataCollectorMultibodyInContactTpl<Scalar>(pinocchio, contacts), | ||
| 56 |
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70997 | DataCollectorActuationTpl<Scalar>(actuation) {} |
| 57 | 70999 | virtual ~DataCollectorActMultibodyInContactTpl() {} | |
| 58 | }; | ||
| 59 | |||
| 60 | template <typename Scalar> | ||
| 61 | struct DataCollectorJointActMultibodyInContactTpl | ||
| 62 | : DataCollectorActMultibodyInContactTpl<Scalar>, | ||
| 63 | DataCollectorJointTpl<Scalar> { | ||
| 64 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 65 | |||
| 66 | 70985 | DataCollectorJointActMultibodyInContactTpl( | |
| 67 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 68 | boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, | ||
| 69 | boost::shared_ptr<JointDataAbstractTpl<Scalar> > joint, | ||
| 70 | boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts) | ||
| 71 | : DataCollectorActMultibodyInContactTpl<Scalar>(pinocchio, actuation, | ||
| 72 | contacts), | ||
| 73 |
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70985 | DataCollectorJointTpl<Scalar>(joint) {} |
| 74 | 141982 | virtual ~DataCollectorJointActMultibodyInContactTpl() {} | |
| 75 | }; | ||
| 76 | |||
| 77 | } // namespace crocoddyl | ||
| 78 | |||
| 79 | #endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_CONTACT_HPP_ | ||
| 80 |