| Directory: | ./ |
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| File: | include/crocoddyl/multibody/data/impulses.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 6 | 6 | 100.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2020, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_DATA_IMPULSES_HPP_ | ||
| 10 | #define CROCODDYL_CORE_DATA_IMPULSES_HPP_ | ||
| 11 | |||
| 12 | #include <memory> | ||
| 13 | |||
| 14 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | template <typename Scalar> | ||
| 21 | struct DataCollectorImpulseTpl : virtual DataCollectorAbstractTpl<Scalar> { | ||
| 22 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 23 | |||
| 24 | 8516 | DataCollectorImpulseTpl( | |
| 25 | std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses) | ||
| 26 | 8516 | : DataCollectorAbstractTpl<Scalar>(), impulses(impulses) {} | |
| 27 | 4264 | virtual ~DataCollectorImpulseTpl() {} | |
| 28 | |||
| 29 | std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses; | ||
| 30 | }; | ||
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | struct DataCollectorMultibodyInImpulseTpl : DataCollectorMultibodyTpl<Scalar>, | ||
| 34 | DataCollectorImpulseTpl<Scalar> { | ||
| 35 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 36 | |||
| 37 | 8514 | DataCollectorMultibodyInImpulseTpl( | |
| 38 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 39 | std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses) | ||
| 40 | : DataCollectorMultibodyTpl<Scalar>(pinocchio), | ||
| 41 |
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8514 | DataCollectorImpulseTpl<Scalar>(impulses) {} |
| 42 | 4261 | virtual ~DataCollectorMultibodyInImpulseTpl() {} | |
| 43 | }; | ||
| 44 | |||
| 45 | } // namespace crocoddyl | ||
| 46 | |||
| 47 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorImpulseTpl) | ||
| 48 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 49 | crocoddyl::DataCollectorMultibodyInImpulseTpl) | ||
| 50 | |||
| 51 | #endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_IMPULSE_HPP_ | ||
| 52 |