pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
constraint-data-base.hpp
1 //
2 // Copyright (c) 2023 INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_constraint_data_base_hpp__
6 #define __pinocchio_algorithm_constraint_data_base_hpp__
7 
8 #include "pinocchio/algorithm/fwd.hpp"
9 
10 namespace pinocchio
11 {
12 
13  template<typename Derived>
15  {
16  typedef typename traits<Derived>::Scalar Scalar;
17  typedef typename traits<Derived>::ConstraintModel ConstraintModel;
18 
19  Derived & derived()
20  {
21  return static_cast<Derived &>(*this);
22  }
23  const Derived & derived() const
24  {
25  return static_cast<const Derived &>(*this);
26  }
27  };
28 
29 } // namespace pinocchio
30 
31 #endif // ifndef __pinocchio_algorithm_constraint_data_base_hpp__
Main pinocchio namespace.
Definition: treeview.dox:11
Common traits structure to fully define base classes for CRTP.
Definition: fwd.hpp:72