actuation.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2020, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_DATA_ACTUATION_HPP_
#define CROCODDYL_CORE_DATA_ACTUATION_HPP_

#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/data-collector-base.hpp"
#include "crocoddyl/core/fwd.hpp"

namespace crocoddyl {

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

 DataCollectorActuationTpl(
 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation)
 : DataCollectorAbstractTpl<Scalar>(), actuation(actuation) {}
 virtual ~DataCollectorActuationTpl() {}

 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation;
};

} // namespace crocoddyl

CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorActuationTpl)

#endif // CROCODDYL_CORE_DATA_ACTUATION_HPP_