impulses.hpp

 
// BSD 3-Clause License
//
// Copyright (C) 2019-2020, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_DATA_IMPULSES_HPP_
#define CROCODDYL_CORE_DATA_IMPULSES_HPP_
 
#include "crocoddyl/multibody/data/multibody.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
 
namespace crocoddyl {
 
template <typename Scalar>
struct DataCollectorImpulseTpl : virtual DataCollectorAbstractTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  DataCollectorImpulseTpl(
      std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses)
      : DataCollectorAbstractTpl<Scalar>(), impulses(impulses) {}
  virtual ~DataCollectorImpulseTpl() {}
 
  std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses;
};
 
template <typename Scalar>
struct DataCollectorMultibodyInImpulseTpl : DataCollectorMultibodyTpl<Scalar>,
                                            DataCollectorImpulseTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  DataCollectorMultibodyInImpulseTpl(
      pinocchio::DataTpl<Scalar>* const pinocchio,
      std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses)
      : DataCollectorMultibodyTpl<Scalar>(pinocchio),
        DataCollectorImpulseTpl<Scalar>(impulses) {}
  virtual ~DataCollectorMultibodyInImpulseTpl() {}
};
 
}  // namespace crocoddyl
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorImpulseTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
    crocoddyl::DataCollectorMultibodyInImpulseTpl)
 
#endif  // CROCODDYL_CORE_DATA_MULTIBODY_IN_IMPULSE_HPP_