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// |
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// Copyright (c) 2023 INRIA |
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// |
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#ifndef __pinocchio_algorithm_constraint_model_generic_hpp__ |
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#define __pinocchio_algorithm_constraint_model_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-generic.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> class ConstraintCollectionTpl> |
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struct traits<ConstraintModelTpl<_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 ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> ConstraintData; |
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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> class ConstraintCollectionTpl> |
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struct ConstraintModelTpl |
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: ConstraintModelBase<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>> |
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, ConstraintCollectionTpl<_Scalar, _Options>::ConstraintModelVariant |
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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 ConstraintModelBase<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>> |
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Base; |
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typedef ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> ConstraintData; |
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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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ConstraintModelTpl() |
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: ConstraintModelVariant() |
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{ |
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} |
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ConstraintModelTpl(const ConstraintModelVariant & cmodel_variant) |
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: ConstraintModelVariant(cmodel_variant) |
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{ |
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} |
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template<typename ContraintModelDerived> |
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ConstraintModelTpl(const ConstraintModelBase<ContraintModelDerived> & cmodel) |
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: ConstraintModelVariant((ConstraintModelVariant)cmodel.derived()) |
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{ |
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BOOST_MPL_ASSERT( |
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(boost::mpl::contains<typename ConstraintModelVariant::types, ContraintModelDerived>)); |
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} |
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ConstraintData createData() const |
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{ |
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return ::pinocchio::createData<Scalar, Options, ConstraintCollectionTpl>(*this); |
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} |
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}; |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_algorithm_constraint_model_generic_hpp__ |
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