check-model.hpp

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

#ifndef __pinocchio_algorithm_check_model_hpp__
#define __pinocchio_algorithm_check_model_hpp__

#include "pinocchio/algorithm/check-base.hpp"

#include <boost/fusion/container/list.hpp>
#include <boost/fusion/container/generation/make_list.hpp>

namespace pinocchio
{

#define PINOCCHIO_DEFINE_ALGO_CHECKER(NAME) \
 struct NAME##Checker : public AlgorithmCheckerBase<NAME##Checker> \
 { \
 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> \
 bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> &) const; \
 }

 PINOCCHIO_DEFINE_ALGO_CHECKER(Parent);
 PINOCCHIO_DEFINE_ALGO_CHECKER(Mimic);

 template<class... D>
 struct AlgorithmCheckerList : AlgorithmCheckerBase<AlgorithmCheckerList<D...>>
 {
 typedef typename boost::fusion::list<D...> ArgType;

 AlgorithmCheckerList(const ArgType & checkerList)
 : checkerList(checkerList)
 {
 }

 // Calls model.check for each checker in the fusion::list.
 // Each list element is supposed to implement the AlgorithmCheckerBase API.
 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
 bool checkModel_impl(const ModelTpl<Scalar, Options, JointCollectionTpl> & model) const;

 const ArgType & checkerList;
 };

 template<class... T>
 AlgorithmCheckerList<T...> makeAlgoCheckerList(const T &... args)
 {
 return AlgorithmCheckerList<T...>(boost::fusion::make_list(args...));
 }

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/check-model.hxx"

#endif // __pinocchio_algorithm_check_model_hpp__