Crocoddyl
 
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impulses.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_IMPULSES_HPP_
10#define CROCODDYL_CORE_DATA_IMPULSES_HPP_
11
12#include <memory>
13
14#include "crocoddyl/multibody/data/multibody.hpp"
15#include "crocoddyl/multibody/fwd.hpp"
16#include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
17
18namespace crocoddyl {
19
20template <typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23
25 std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses)
26 : DataCollectorAbstractTpl<Scalar>(), impulses(impulses) {}
27 virtual ~DataCollectorImpulseTpl() {}
28
29 std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses;
30};
31
32template <typename Scalar>
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36
38 pinocchio::DataTpl<Scalar>* const pinocchio,
39 std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > impulses)
43};
44
45} // namespace crocoddyl
46
47#endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_IMPULSE_HPP_
Define the multi-impulse data.