5 #ifndef __pinocchio_algorithm_constraint_model_generic_hpp__
6 #define __pinocchio_algorithm_constraint_model_generic_hpp__
8 #include "pinocchio/algorithm/constraints/fwd.hpp"
9 #include "pinocchio/algorithm/constraints/constraint-model-base.hpp"
10 #include "pinocchio/algorithm/constraints/constraint-data-generic.hpp"
11 #include "pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp"
19 template<
typename S,
int O>
20 class ConstraintCollectionTpl>
23 typedef _Scalar Scalar;
34 template<
typename S,
int O>
40 typedef _Scalar Scalar;
50 typedef typename ConstraintCollection::ConstraintDataVariant ConstraintDataVariant;
51 typedef typename ConstraintCollection::ConstraintModelVariant ConstraintModelVariant;
54 : ConstraintModelVariant()
59 : ConstraintModelVariant(cmodel_variant)
63 template<
typename Contra
intModelDerived>
65 : ConstraintModelVariant((ConstraintModelVariant)cmodel.derived())
68 (boost::mpl::contains<typename ConstraintModelVariant::types, ContraintModelDerived>));
73 return ::pinocchio::createData<Scalar, Options, ConstraintCollectionTpl>(*
this);
Main pinocchio namespace.
Common traits structure to fully define base classes for CRTP.