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// |
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// Copyright (c) 2016-2020 CNRS INRIA |
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// |
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#ifndef __pinocchio_copy_hpp__ |
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#define __pinocchio_copy_hpp__ |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/algorithm/check.hpp" |
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namespace pinocchio |
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{ |
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/// |
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/// \brief Copy part of the data from \c origin to \c dest. Template parameter can be |
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/// used to select at which differential level the copy should occur. |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] orig Data from which the values are copied. |
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/// \param[out] dest Data to which the values are copied |
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/// \param[in] kinematic_level if =0, copy oMi. If =1, also copy v. If =2, also copy a, a_gf and |
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/// f. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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inline void copy( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const DataTpl<Scalar, Options, JointCollectionTpl> & origin, |
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DataTpl<Scalar, Options, JointCollectionTpl> & dest, |
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KinematicLevel kinematic_level); |
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} // namespace pinocchio |
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/* --- Details -------------------------------------------------------------------- */ |
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// #include "pinocchio/algorithm/copy.hxx" |
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/// \internal |
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namespace pinocchio |
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{ |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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inline void copy( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const DataTpl<Scalar, Options, JointCollectionTpl> & origin, |
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DataTpl<Scalar, Options, JointCollectionTpl> & dest, |
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KinematicLevel kinematic_level) |
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{ |
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; |
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typedef typename Model::JointIndex JointIndex; |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(kinematic_level >= POSITION); |
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for (JointIndex jid = 1; jid < (JointIndex)model.njoints; ++jid) |
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{ |
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dest.oMi[jid] = origin.oMi[jid]; |
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if (kinematic_level >= VELOCITY) |
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{ |
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dest.v[jid] = origin.v[jid]; |
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} |
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if (kinematic_level >= ACCELERATION) |
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{ |
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dest.a[jid] = origin.a[jid]; |
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dest.a_gf[jid] = origin.a_gf[jid]; |
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dest.f[jid] = origin.f[jid]; |
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} |
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} |
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} |
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} // namespace pinocchio |
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/// \endinternal |
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#endif // ifndef __pinocchio_copy_hpp__ |
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