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
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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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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__
pinocchio
Main pinocchio namespace.
Definition
treeview.dox:11
pinocchio::AlgorithmCheckerBase
CRTP class describing the API of the checkers.
Definition
check-base.hpp:16
pinocchio::ContactSolverBaseTpl
Definition
contact-solver-base.hpp:20
include
pinocchio
algorithm
check-base.hpp
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