copy.hpp

//
// Copyright (c) 2016-2020 CNRS INRIA
//
 
#ifndef __pinocchio_copy_hpp__
#define __pinocchio_copy_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
 
namespace pinocchio
{
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  inline void copy(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & origin,
    DataTpl<Scalar, Options, JointCollectionTpl> & dest,
    KinematicLevel kinematic_level);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
// #include "pinocchio/algorithm/copy.hxx"
 
namespace pinocchio
{
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  inline void copy(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    const DataTpl<Scalar, Options, JointCollectionTpl> & origin,
    DataTpl<Scalar, Options, JointCollectionTpl> & dest,
    KinematicLevel kinematic_level)
  {
    typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
    typedef typename Model::JointIndex JointIndex;
 
    PINOCCHIO_CHECK_INPUT_ARGUMENT(kinematic_level >= POSITION);
 
    for (JointIndex jid = 1; jid < (JointIndex)model.njoints; ++jid)
    {
      dest.oMi[jid] = origin.oMi[jid];
      if (kinematic_level >= VELOCITY)
      {
        dest.v[jid] = origin.v[jid];
      }
      if (kinematic_level >= ACCELERATION)
      {
        dest.a[jid] = origin.a[jid];
        dest.a_gf[jid] = origin.a_gf[jid];
        dest.f[jid] = origin.f[jid];
      }
    }
  }
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_copy_hpp__