| Directory: | ./ |
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| File: | include/crocoddyl/multibody/data/multibody.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 9 | 9 | 100.0% |
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| 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_MULTIBODY_HPP_ | ||
| 10 | #define CROCODDYL_CORE_DATA_MULTIBODY_HPP_ | ||
| 11 | |||
| 12 | #include <pinocchio/multibody/data.hpp> | ||
| 13 | |||
| 14 | #include "crocoddyl/core/data-collector-base.hpp" | ||
| 15 | #include "crocoddyl/core/data/actuation.hpp" | ||
| 16 | #include "crocoddyl/core/data/joint.hpp" | ||
| 17 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | |||
| 21 | template <typename Scalar> | ||
| 22 | struct DataCollectorMultibodyTpl : virtual DataCollectorAbstractTpl<Scalar> { | ||
| 23 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 24 | |||
| 25 | 196134 | DataCollectorMultibodyTpl(pinocchio::DataTpl<Scalar>* const data) | |
| 26 | 196134 | : pinocchio(data) {} | |
| 27 | 98079 | virtual ~DataCollectorMultibodyTpl() {} | |
| 28 | |||
| 29 | pinocchio::DataTpl<Scalar>* pinocchio; | ||
| 30 | }; | ||
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | struct DataCollectorActMultibodyTpl : DataCollectorMultibodyTpl<Scalar>, | ||
| 34 | DataCollectorActuationTpl<Scalar> { | ||
| 35 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 36 | |||
| 37 | 41328 | DataCollectorActMultibodyTpl( | |
| 38 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 39 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation) | ||
| 40 | : DataCollectorMultibodyTpl<Scalar>(pinocchio), | ||
| 41 |
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41328 | DataCollectorActuationTpl<Scalar>(actuation) {} |
| 42 | 20660 | virtual ~DataCollectorActMultibodyTpl() {} | |
| 43 | }; | ||
| 44 | |||
| 45 | template <typename Scalar> | ||
| 46 | struct DataCollectorJointActMultibodyTpl : DataCollectorActMultibodyTpl<Scalar>, | ||
| 47 | DataCollectorJointTpl<Scalar> { | ||
| 48 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 49 | |||
| 50 | 40262 | DataCollectorJointActMultibodyTpl( | |
| 51 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 52 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, | ||
| 53 | std::shared_ptr<JointDataAbstractTpl<Scalar> > joint) | ||
| 54 | : DataCollectorActMultibodyTpl<Scalar>(pinocchio, actuation), | ||
| 55 |
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40262 | DataCollectorJointTpl<Scalar>(joint) {} |
| 56 | 20125 | virtual ~DataCollectorJointActMultibodyTpl() {} | |
| 57 | }; | ||
| 58 | |||
| 59 | } // namespace crocoddyl | ||
| 60 | |||
| 61 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorMultibodyTpl) | ||
| 62 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 63 | crocoddyl::DataCollectorActMultibodyTpl) | ||
| 64 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 65 | crocoddyl::DataCollectorJointActMultibodyTpl) | ||
| 66 | |||
| 67 | #endif // CROCODDYL_CORE_DATA_MULTIBODY_HPP_ | ||
| 68 |