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// |
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// Copyright (c) 2025 INRIA |
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// |
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#ifndef __pinocchio_algorithm_check_base_hpp__ |
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#define __pinocchio_algorithm_check_base_hpp__ |
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#include "pinocchio/multibody/fwd.hpp" |
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namespace pinocchio |
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{ |
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/// CRTP class describing the API of the checkers |
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template<typename AlgorithmCheckerDerived> |
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struct AlgorithmCheckerBase |
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{ |
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AlgorithmCheckerDerived & derived() |
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{ |
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return *static_cast<AlgorithmCheckerDerived *>(this); |
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} |
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const AlgorithmCheckerDerived & derived() const |
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{ |
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return *static_cast<const AlgorithmCheckerDerived *>(this); |
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} |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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bool checkModel(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const |
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{ |
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return derived().checkModel_impl(model); |
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} |
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}; |
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} // namespace pinocchio |
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#endif // __pinocchio_algorithm_check_base_hpp__ |
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