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// |
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// Copyright (c) 2016-2018 CNRS |
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// |
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#ifndef __pinocchio_default_check_hpp__ |
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#define __pinocchio_default_check_hpp__ |
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#include <pinocchio/algorithm/check.hpp> |
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#include <pinocchio/algorithm/aba.hpp> |
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#include <pinocchio/algorithm/crba.hpp> |
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namespace pinocchio |
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{ |
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/// Default checker-list, used as the default argument in Model::check(). |
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inline AlgorithmCheckerList<ParentChecker, CRBAChecker, ABAChecker> makeDefaultCheckerList() |
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{ |
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return makeAlgoCheckerList(ParentChecker(), CRBAChecker(), ABAChecker()); |
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} |
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#define DEFAULT_CHECKERS makeDefaultCheckerList() |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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inline bool ModelTpl<Scalar, Options, JointCollectionTpl>::check() const |
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{ |
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return this->check(DEFAULT_CHECKERS); |
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} |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_default_check_hpp__ |
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