contacts.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2022, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_DATA_CONTACTS_HPP_
#define CROCODDYL_CORE_DATA_CONTACTS_HPP_

#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
#include "crocoddyl/multibody/data/multibody.hpp"
#include "crocoddyl/multibody/fwd.hpp"

namespace crocoddyl {

template <typename Scalar>
struct DataCollectorContactTpl : virtual DataCollectorAbstractTpl<Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 DataCollectorContactTpl(
 std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts)
 : DataCollectorAbstractTpl<Scalar>(), contacts(contacts) {}
 virtual ~DataCollectorContactTpl() {}

 std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts;
};

template <typename Scalar>
struct DataCollectorMultibodyInContactTpl : DataCollectorMultibodyTpl<Scalar>,
 DataCollectorContactTpl<Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 DataCollectorMultibodyInContactTpl(
 pinocchio::DataTpl<Scalar>* const pinocchio,
 std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts)
 : DataCollectorMultibodyTpl<Scalar>(pinocchio),
 DataCollectorContactTpl<Scalar>(contacts) {}
 virtual ~DataCollectorMultibodyInContactTpl() {}
};

template <typename Scalar>
struct DataCollectorActMultibodyInContactTpl
 : DataCollectorMultibodyInContactTpl<Scalar>,
 DataCollectorActuationTpl<Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 DataCollectorActMultibodyInContactTpl(
 pinocchio::DataTpl<Scalar>* const pinocchio,
 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation,
 std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts)
 : DataCollectorMultibodyInContactTpl<Scalar>(pinocchio, contacts),
 DataCollectorActuationTpl<Scalar>(actuation) {}
 virtual ~DataCollectorActMultibodyInContactTpl() {}
};

template <typename Scalar>
struct DataCollectorJointActMultibodyInContactTpl
 : DataCollectorActMultibodyInContactTpl<Scalar>,
 DataCollectorJointTpl<Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 DataCollectorJointActMultibodyInContactTpl(
 pinocchio::DataTpl<Scalar>* const pinocchio,
 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation,
 std::shared_ptr<JointDataAbstractTpl<Scalar> > joint,
 std::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts)
 : DataCollectorActMultibodyInContactTpl<Scalar>(pinocchio, actuation,
 contacts),
 DataCollectorJointTpl<Scalar>(joint) {}
 virtual ~DataCollectorJointActMultibodyInContactTpl() {}
};

} // namespace crocoddyl

CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorContactTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::DataCollectorMultibodyInContactTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::DataCollectorActMultibodyInContactTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::DataCollectorJointActMultibodyInContactTpl)

#endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_CONTACT_HPP_