| Directory: | ./ |
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| File: | include/pinocchio/algorithm/default-check.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 2 | 2 | 100.0% |
| Branches: | 1 | 2 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016-2018 CNRS | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_default_check_hpp__ | ||
| 6 | #define __pinocchio_default_check_hpp__ | ||
| 7 | |||
| 8 | #include <pinocchio/algorithm/check.hpp> | ||
| 9 | #include <pinocchio/algorithm/aba.hpp> | ||
| 10 | #include <pinocchio/algorithm/crba.hpp> | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | /// Default checker-list, used as the default argument in Model::check(). | ||
| 15 | 1 | inline AlgorithmCheckerList<ParentChecker, CRBAChecker, ABAChecker> makeDefaultCheckerList() | |
| 16 | { | ||
| 17 |
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1 | return makeAlgoCheckerList(ParentChecker(), CRBAChecker(), ABAChecker()); |
| 18 | } | ||
| 19 | |||
| 20 | #define DEFAULT_CHECKERS makeDefaultCheckerList() | ||
| 21 | |||
| 22 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 23 | inline bool ModelTpl<Scalar, Options, JointCollectionTpl>::check() const | ||
| 24 | { | ||
| 25 | return this->check(DEFAULT_CHECKERS); | ||
| 26 | } | ||
| 27 | |||
| 28 | } // namespace pinocchio | ||
| 29 | |||
| 30 | #endif // ifndef __pinocchio_default_check_hpp__ | ||
| 31 |