Crocoddyl
actuation.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2020, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_DATA_ACTUATION_HPP_
10 #define CROCODDYL_CORE_DATA_ACTUATION_HPP_
11 
12 #include "crocoddyl/core/actuation-base.hpp"
13 #include "crocoddyl/core/data-collector-base.hpp"
14 #include "crocoddyl/core/fwd.hpp"
15 
16 namespace crocoddyl {
17 
18 template <typename Scalar>
19 struct DataCollectorActuationTpl : virtual DataCollectorAbstractTpl<Scalar> {
20  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
21 
22  DataCollectorActuationTpl(
23  std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation)
24  : DataCollectorAbstractTpl<Scalar>(), actuation(actuation) {}
25  virtual ~DataCollectorActuationTpl() {}
26 
27  std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation;
28 };
29 
30 } // namespace crocoddyl
31 
32 CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorActuationTpl)
33 
34 #endif // CROCODDYL_CORE_DATA_ACTUATION_HPP_