check-base.hpp

//
// Copyright (c) 2025 INRIA
//

#ifndef __pinocchio_algorithm_check_base_hpp__
#define __pinocchio_algorithm_check_base_hpp__

#include "pinocchio/multibody/fwd.hpp"

namespace pinocchio
{

 template<typename AlgorithmCheckerDerived>
 struct AlgorithmCheckerBase
 {
 AlgorithmCheckerDerived & derived()
 {
 return *static_cast<AlgorithmCheckerDerived *>(this);
 }

 const AlgorithmCheckerDerived & derived() const
 {
 return *static_cast<const AlgorithmCheckerDerived *>(this);
 }

 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
 bool checkModel(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const
 {
 return derived().checkModel_impl(model);
 }
 };

} // namespace pinocchio

#endif // __pinocchio_algorithm_check_base_hpp__