| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 "crocoddyl/core/data-collector-base.hpp" | ||
| 13 | #include "crocoddyl/core/data/actuation.hpp" | ||
| 14 | #include "crocoddyl/core/data/joint.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | template <typename Scalar> | ||
| 20 | struct DataCollectorMultibodyTpl : virtual DataCollectorAbstractTpl<Scalar> { | ||
| 21 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 22 | |||
| 23 | ✗ | DataCollectorMultibodyTpl(pinocchio::DataTpl<Scalar>* const data) | |
| 24 | ✗ | : pinocchio(data) {} | |
| 25 | ✗ | virtual ~DataCollectorMultibodyTpl() {} | |
| 26 | |||
| 27 | pinocchio::DataTpl<Scalar>* pinocchio; | ||
| 28 | }; | ||
| 29 | |||
| 30 | template <typename Scalar> | ||
| 31 | struct DataCollectorActMultibodyTpl : DataCollectorMultibodyTpl<Scalar>, | ||
| 32 | DataCollectorActuationTpl<Scalar> { | ||
| 33 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 34 | |||
| 35 | ✗ | DataCollectorActMultibodyTpl( | |
| 36 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 37 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation) | ||
| 38 | : DataCollectorMultibodyTpl<Scalar>(pinocchio), | ||
| 39 | ✗ | DataCollectorActuationTpl<Scalar>(actuation) {} | |
| 40 | ✗ | virtual ~DataCollectorActMultibodyTpl() {} | |
| 41 | }; | ||
| 42 | |||
| 43 | template <typename Scalar> | ||
| 44 | struct DataCollectorJointActMultibodyTpl : DataCollectorActMultibodyTpl<Scalar>, | ||
| 45 | DataCollectorJointTpl<Scalar> { | ||
| 46 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 47 | |||
| 48 | ✗ | DataCollectorJointActMultibodyTpl( | |
| 49 | pinocchio::DataTpl<Scalar>* const pinocchio, | ||
| 50 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, | ||
| 51 | std::shared_ptr<JointDataAbstractTpl<Scalar> > joint) | ||
| 52 | : DataCollectorActMultibodyTpl<Scalar>(pinocchio, actuation), | ||
| 53 | ✗ | DataCollectorJointTpl<Scalar>(joint) {} | |
| 54 | ✗ | virtual ~DataCollectorJointActMultibodyTpl() {} | |
| 55 | }; | ||
| 56 | |||
| 57 | } // namespace crocoddyl | ||
| 58 | |||
| 59 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorMultibodyTpl) | ||
| 60 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 61 | crocoddyl::DataCollectorActMultibodyTpl) | ||
| 62 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 63 | crocoddyl::DataCollectorJointActMultibodyTpl) | ||
| 64 | |||
| 65 | #endif // CROCODDYL_CORE_DATA_MULTIBODY_HPP_ | ||
| 66 |