pinocchio
3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
constraint-data-base.hpp
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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_base_hpp__
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#define __pinocchio_algorithm_constraint_data_base_hpp__
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#include "pinocchio/algorithm/fwd.hpp"
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namespace
pinocchio
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{
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template
<
typename
Derived>
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struct
ConstraintDataBase
:
NumericalBase
<Derived>
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{
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typedef
typename
traits<Derived>::Scalar
Scalar;
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typedef
typename
traits<Derived>::ConstraintModel
ConstraintModel;
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Derived & derived()
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{
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return
static_cast<
Derived &
>
(*this);
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}
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const
Derived & derived()
const
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{
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return
static_cast<
const
Derived &
>
(*this);
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}
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};
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}
// namespace pinocchio
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#endif
// ifndef __pinocchio_algorithm_constraint_data_base_hpp__
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:11
pinocchio::ConstraintDataBase
Definition:
constraint-data-base.hpp:15
pinocchio::NumericalBase
Definition:
fwd.hpp:90
pinocchio::traits
Common traits structure to fully define base classes for CRTP.
Definition:
fwd.hpp:72
include
pinocchio
algorithm
constraints
constraint-data-base.hpp
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