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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2020, 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_IMPULSES_HPP_ |
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#define CROCODDYL_CORE_DATA_IMPULSES_HPP_ |
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#include "crocoddyl/multibody/data/multibody.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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#include "crocoddyl/multibody/impulses/multiple-impulses.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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struct DataCollectorImpulseTpl : virtual DataCollectorAbstractTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorImpulseTpl( |
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std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses) |
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: DataCollectorAbstractTpl<Scalar>(), impulses(impulses) {} |
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virtual ~DataCollectorImpulseTpl() {} |
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std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses; |
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}; |
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template <typename Scalar> |
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struct DataCollectorMultibodyInImpulseTpl : DataCollectorMultibodyTpl<Scalar>, |
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DataCollectorImpulseTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorMultibodyInImpulseTpl( |
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pinocchio::DataTpl<Scalar>* const pinocchio, |
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std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses) |
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: DataCollectorMultibodyTpl<Scalar>(pinocchio), |
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DataCollectorImpulseTpl<Scalar>(impulses) {} |
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virtual ~DataCollectorMultibodyInImpulseTpl() {} |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorImpulseTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::DataCollectorMultibodyInImpulseTpl) |
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#endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_IMPULSE_HPP_ |
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