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// |
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// Copyright (c) 2023 INRIA |
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// |
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#ifndef __pinocchio_algorithm_constraint_data_base_hpp__ |
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#define __pinocchio_algorithm_constraint_data_base_hpp__ |
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#include "pinocchio/algorithm/fwd.hpp" |
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namespace pinocchio |
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{ |
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template<typename Derived> |
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struct ConstraintDataBase : NumericalBase<Derived> |
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{ |
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typedef typename traits<Derived>::Scalar Scalar; |
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typedef typename traits<Derived>::ConstraintModel ConstraintModel; |
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Derived & derived() |
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{ |
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return static_cast<Derived &>(*this); |
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} |
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const Derived & derived() const |
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{ |
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return static_cast<const Derived &>(*this); |
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} |
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}; |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_algorithm_constraint_data_base_hpp__ |
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