multibody.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_MULTIBODY_HPP_
#define CROCODDYL_CORE_DATA_MULTIBODY_HPP_

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

namespace crocoddyl {

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

 DataCollectorMultibodyTpl(pinocchio::DataTpl<Scalar>* const data)
 : pinocchio(data) {}
 virtual ~DataCollectorMultibodyTpl() {}

 pinocchio::DataTpl<Scalar>* pinocchio;
};

template <typename Scalar>
struct DataCollectorActMultibodyTpl : DataCollectorMultibodyTpl<Scalar>,
 DataCollectorActuationTpl<Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 DataCollectorActMultibodyTpl(
 pinocchio::DataTpl<Scalar>* const pinocchio,
 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation)
 : DataCollectorMultibodyTpl<Scalar>(pinocchio),
 DataCollectorActuationTpl<Scalar>(actuation) {}
 virtual ~DataCollectorActMultibodyTpl() {}
};

template <typename Scalar>
struct DataCollectorJointActMultibodyTpl : DataCollectorActMultibodyTpl<Scalar>,
 DataCollectorJointTpl<Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 DataCollectorJointActMultibodyTpl(
 pinocchio::DataTpl<Scalar>* const pinocchio,
 std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation,
 std::shared_ptr<JointDataAbstractTpl<Scalar> > joint)
 : DataCollectorActMultibodyTpl<Scalar>(pinocchio, actuation),
 DataCollectorJointTpl<Scalar>(joint) {}
 virtual ~DataCollectorJointActMultibodyTpl() {}
};

} // namespace crocoddyl

CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorMultibodyTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::DataCollectorActMultibodyTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::DataCollectorJointActMultibodyTpl)

#endif // CROCODDYL_CORE_DATA_MULTIBODY_HPP_