pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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check-base.hpp
1//
2// Copyright (c) 2025 INRIA
3//
4
5#ifndef __pinocchio_algorithm_check_base_hpp__
6#define __pinocchio_algorithm_check_base_hpp__
7
8#include "pinocchio/multibody/fwd.hpp"
9
10namespace pinocchio
11{
12
14 template<typename AlgorithmCheckerDerived>
16 {
17 AlgorithmCheckerDerived & derived()
18 {
19 return *static_cast<AlgorithmCheckerDerived *>(this);
20 }
21
22 const AlgorithmCheckerDerived & derived() const
23 {
24 return *static_cast<const AlgorithmCheckerDerived *>(this);
25 }
26
27 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
28 bool checkModel(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const
29 {
30 return derived().checkModel_impl(model);
31 }
32 };
33
34} // namespace pinocchio
35
36#endif // __pinocchio_algorithm_check_base_hpp__
Main pinocchio namespace.
Definition treeview.dox:11
CRTP class describing the API of the checkers.