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 <boost/shared_ptr.hpp>
13 
14 #include "crocoddyl/core/actuation-base.hpp"
15 #include "crocoddyl/core/data-collector-base.hpp"
16 #include "crocoddyl/core/fwd.hpp"
17 
18 namespace crocoddyl {
19 
20 template <typename Scalar>
21 struct DataCollectorActuationTpl : virtual DataCollectorAbstractTpl<Scalar> {
22  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 
24  DataCollectorActuationTpl(
25  boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation)
26  : DataCollectorAbstractTpl<Scalar>(), actuation(actuation) {}
27  virtual ~DataCollectorActuationTpl() {}
28 
29  boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation;
30 };
31 
32 } // namespace crocoddyl
33 
34 #endif // CROCODDYL_CORE_DATA_ACTUATION_HPP_