| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 "crocoddyl/multibody/data/multibody.hpp" | ||
| 13 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 14 | #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | template <typename Scalar> | ||
| 19 | struct DataCollectorImpulseTpl : virtual DataCollectorAbstractTpl<Scalar> { | ||
| 20 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 21 | |||
| 22 | ✗ | DataCollectorImpulseTpl( | |
| 23 | std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses) | ||
| 24 | ✗ | : DataCollectorAbstractTpl<Scalar>(), impulses(impulses) {} | |
| 25 | ✗ | virtual ~DataCollectorImpulseTpl() {} | |
| 26 | |||
| 27 | std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses; | ||
| 28 | }; | ||
| 29 | |||
| 30 | template <typename Scalar> | ||
| 31 | struct DataCollectorMultibodyInImpulseTpl : DataCollectorMultibodyTpl<Scalar>, | ||
| 32 | DataCollectorImpulseTpl<Scalar> { | ||
| 33 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 34 | |||
| 35 | ✗ | DataCollectorMultibodyInImpulseTpl( | |
| 36 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 37 | std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses) | ||
| 38 | : DataCollectorMultibodyTpl<Scalar>(pinocchio), | ||
| 39 | ✗ | DataCollectorImpulseTpl<Scalar>(impulses) {} | |
| 40 | ✗ | virtual ~DataCollectorMultibodyInImpulseTpl() {} | |
| 41 | }; | ||
| 42 | |||
| 43 | } // namespace crocoddyl | ||
| 44 | |||
| 45 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorImpulseTpl) | ||
| 46 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 47 | crocoddyl::DataCollectorMultibodyInImpulseTpl) | ||
| 48 | |||
| 49 | #endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_IMPULSE_HPP_ | ||
| 50 |