Crocoddyl
 
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actuation.hpp
1
2// 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
16namespace crocoddyl {
17
18template <typename Scalar>
20 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
21
23 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation)
24 : DataCollectorAbstractTpl<Scalar>(), actuation(actuation) {}
26
27 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation;
28};
29
30} // namespace crocoddyl
31
32CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorActuationTpl)
33
34#endif // CROCODDYL_CORE_DATA_ACTUATION_HPP_