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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_generic_hpp__ |
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#define __pinocchio_algorithm_constraint_data_generic_hpp__ |
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#include "pinocchio/algorithm/constraints/fwd.hpp" |
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#include "pinocchio/algorithm/constraints/constraint-model-base.hpp" |
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#include "pinocchio/algorithm/constraints/constraint-data-base.hpp" |
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#include "pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp" |
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namespace pinocchio |
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{ |
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template< |
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typename _Scalar, |
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int _Options, |
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template<typename S, int O> |
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class ConstraintCollectionTpl> |
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struct traits<ConstraintDataTpl<_Scalar, _Options, ConstraintCollectionTpl>> |
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{ |
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typedef _Scalar Scalar; |
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enum |
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{ |
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Options = _Options |
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}; |
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typedef ConstraintModelTpl<Scalar, Options, ConstraintCollectionTpl> ConstraintModel; |
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}; |
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template< |
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typename _Scalar, |
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int _Options, |
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template<typename S, int O> |
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class ConstraintCollectionTpl> |
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struct ConstraintDataTpl |
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: ConstraintDataBase<ConstraintDataTpl<_Scalar, _Options, ConstraintCollectionTpl>> |
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, ConstraintCollectionTpl<_Scalar, _Options>::ConstraintDataVariant |
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{ |
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typedef ConstraintDataBase<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>> Base; |
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typedef _Scalar Scalar; |
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enum |
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{ |
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Options = _Options |
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}; |
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typedef ConstraintCollectionTpl<Scalar, Options> ConstraintCollection; |
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typedef typename ConstraintCollection::ConstraintDataVariant ConstraintDataVariant; |
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typedef typename ConstraintCollection::ConstraintModelVariant ConstraintModelVariant; |
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ConstraintDataTpl() |
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: ConstraintDataVariant() |
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{ |
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} |
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ConstraintDataTpl(const ConstraintDataVariant & cdata_variant) |
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: ConstraintDataVariant(cdata_variant) |
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{ |
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} |
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template<typename ContraintDataDerived> |
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ConstraintDataTpl(const ConstraintDataBase<ContraintDataDerived> & cdata) |
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: ConstraintDataVariant((ConstraintDataVariant)cdata.derived()) |
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{ |
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BOOST_MPL_ASSERT( |
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(boost::mpl::contains<typename ConstraintDataVariant::types, ContraintDataDerived>)); |
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} |
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ConstraintDataVariant & toVariant() |
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{ |
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return static_cast<ConstraintDataVariant &>(*this); |
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} |
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const ConstraintDataVariant & toVariant() const |
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{ |
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return static_cast<const ConstraintDataVariant &>(*this); |
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} |
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template<typename ConstraintDataDerived> |
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bool isEqual(const ConstraintDataBase<ConstraintDataDerived> & other) const |
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{ |
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return ::pinocchio::isEqual(*this, other.derived()); |
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} |
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bool isEqual(const ConstraintDataTpl & other) const |
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{ |
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return /*Base::isEqual(other) &&*/ toVariant() == other.toVariant(); |
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} |
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bool operator==(const ConstraintDataTpl & other) const |
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{ |
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return isEqual(other); |
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} |
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bool operator!=(const ConstraintDataTpl & other) const |
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{ |
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return !(*this == other); |
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} |
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}; |
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template< |
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typename ConstraintDataDerived, |
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typename Scalar, |
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int Options, |
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template<typename S, int O> |
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class ConstraintCollectionTpl> |
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bool operator==( |
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const ConstraintDataBase<ConstraintDataDerived> & data1, |
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const ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> & data2) |
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{ |
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return data2 == data1.derived(); |
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} |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_algorithm_constraint_data_generic_hpp__ |
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