pinocchio  3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
default-check.hpp
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 {
15  inline AlgorithmCheckerList<ParentChecker, CRBAChecker, ABAChecker> makeDefaultCheckerList()
16  {
17  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__
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:11
pinocchio::makeDefaultCheckerList
AlgorithmCheckerList< ParentChecker, CRBAChecker, ABAChecker > makeDefaultCheckerList()
Default checker-list, used as the default argument in Model::check().
Definition: default-check.hpp:15
pinocchio::AlgorithmCheckerList
Checker having a list of Checker as input argument.
Definition: check.hpp:58
pinocchio::ModelTpl::check
bool check() const
Run check(fusion::list) with DEFAULT_CHECKERS as argument.
Definition: default-check.hpp:23
pinocchio::ParentChecker
Simple model checker, that assert that model.parents is indeed a tree.
Definition: check.hpp:49