check-base.hpp

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