pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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constraint-data-base.hpp
1//
2// Copyright (c) 2023 INRIA
3//
4
5#ifndef __pinocchio_algorithm_constraint_data_base_hpp__
6#define __pinocchio_algorithm_constraint_data_base_hpp__
7
8#include "pinocchio/algorithm/fwd.hpp"
9
10namespace pinocchio
11{
12
13 template<typename Derived>
15 {
16 typedef typename traits<Derived>::Scalar Scalar;
17 typedef typename traits<Derived>::ConstraintModel ConstraintModel;
18
19 Derived & derived()
20 {
21 return static_cast<Derived &>(*this);
22 }
23 const Derived & derived() const
24 {
25 return static_cast<const Derived &>(*this);
26 }
27 };
28
29} // namespace pinocchio
30
31#endif // ifndef __pinocchio_algorithm_constraint_data_base_hpp__
Main pinocchio namespace.
Definition treeview.dox:11
Common traits structure to fully define base classes for CRTP.
Definition fwd.hpp:72