actuation.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_ACTUATION_HPP_
#define CROCODDYL_CORE_DATA_ACTUATION_HPP_
 
#include <boost/shared_ptr.hpp>
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/data-collector-base.hpp"
#include "crocoddyl/core/actuation-base.hpp"
 
namespace crocoddyl {
 
template <typename Scalar>
struct DataCollectorActuationTpl : virtual DataCollectorAbstractTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  DataCollectorActuationTpl(boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation)
      : DataCollectorAbstractTpl<Scalar>(), actuation(actuation) {}
  virtual ~DataCollectorActuationTpl() {}
 
  boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation;
};
 
}  // namespace crocoddyl
 
#endif  // CROCODDYL_CORE_DATA_ACTUATION_HPP_