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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2022, 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_MULTIBODY_HPP_ |
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#define CROCODDYL_CORE_DATA_MULTIBODY_HPP_ |
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#include <pinocchio/multibody/data.hpp> |
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#include "crocoddyl/core/data-collector-base.hpp" |
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#include "crocoddyl/core/data/actuation.hpp" |
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#include "crocoddyl/core/data/joint.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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struct DataCollectorMultibodyTpl : virtual DataCollectorAbstractTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorMultibodyTpl(pinocchio::DataTpl<Scalar>* const data) |
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: pinocchio(data) {} |
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virtual ~DataCollectorMultibodyTpl() {} |
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pinocchio::DataTpl<Scalar>* pinocchio; |
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}; |
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template <typename Scalar> |
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struct DataCollectorActMultibodyTpl : DataCollectorMultibodyTpl<Scalar>, |
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DataCollectorActuationTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorActMultibodyTpl( |
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pinocchio::DataTpl<Scalar>* const pinocchio, |
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boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation) |
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: DataCollectorMultibodyTpl<Scalar>(pinocchio), |
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✓✗ |
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DataCollectorActuationTpl<Scalar>(actuation) {} |
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virtual ~DataCollectorActMultibodyTpl() {} |
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}; |
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template <typename Scalar> |
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struct DataCollectorJointActMultibodyTpl : DataCollectorActMultibodyTpl<Scalar>, |
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DataCollectorJointTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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20154 |
DataCollectorJointActMultibodyTpl( |
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pinocchio::DataTpl<Scalar>* const pinocchio, |
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boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, |
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boost::shared_ptr<JointDataAbstractTpl<Scalar> > joint) |
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: DataCollectorActMultibodyTpl<Scalar>(pinocchio, actuation), |
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✓✗ |
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DataCollectorJointTpl<Scalar>(joint) {} |
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virtual ~DataCollectorJointActMultibodyTpl() {} |
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}; |
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} // namespace crocoddyl |
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#endif // CROCODDYL_CORE_DATA_MULTIBODY_HPP_ |