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>
class ConstraintCollectionTpl>
22 typedef _Scalar Scalar;
38 typedef _Scalar Scalar;
48 typedef typename ConstraintCollection::ConstraintDataVariant ConstraintDataVariant;
49 typedef typename ConstraintCollection::ConstraintModelVariant ConstraintModelVariant;
52 : ConstraintModelVariant()
57 : ConstraintModelVariant(cmodel_variant)
61 template<
typename Contra
intModelDerived>
63 : ConstraintModelVariant((ConstraintModelVariant)cmodel.derived())
66 (boost::mpl::contains<typename ConstraintModelVariant::types, ContraintModelDerived>));
71 return ::pinocchio::createData<Scalar, Options, ConstraintCollectionTpl>(*
this);
Main pinocchio namespace.
Common traits structure to fully define base classes for CRTP.