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 |
✗✓✗ |
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 |
✓✓✗ |
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 |
✓✗ |
70985 |
DataCollectorJointTpl<Scalar>(joint) {} |
74 |
|
141982 |
virtual ~DataCollectorJointActMultibodyInContactTpl() {} |
75 |
|
|
}; |
76 |
|
|
|
77 |
|
|
} // namespace crocoddyl |
78 |
|
|
|
79 |
|
|
#endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_CONTACT_HPP_ |