46 typedef typename ConstraintCollection::ConstraintDataVariant ConstraintDataVariant;
47 typedef typename ConstraintCollection::ConstraintModelVariant ConstraintModelVariant;
50 : ConstraintDataVariant()
59 template<
typename Contra
intDataDerived>
61 : ConstraintDataVariant((ConstraintDataVariant)cdata.derived())
64 (boost::mpl::contains<typename ConstraintDataVariant::types, ContraintDataDerived>));
67 ConstraintDataVariant & toVariant()
69 return static_cast<ConstraintDataVariant &
>(*this);
72 const ConstraintDataVariant & toVariant()
const
74 return static_cast<const ConstraintDataVariant &
>(*this);
77 template<
typename Constra
intDataDerived>
80 return ::pinocchio::isEqual(*
this,
other.derived());
85 return toVariant() ==
other.toVariant();
90 return isEqual(
other);
95 return !(*
this ==
other);