constraint-model-generic.hpp

//
// Copyright (c) 2023 INRIA
//

#ifndef __pinocchio_algorithm_constraint_model_generic_hpp__
#define __pinocchio_algorithm_constraint_model_generic_hpp__

#include "pinocchio/algorithm/constraints/fwd.hpp"
#include "pinocchio/algorithm/constraints/constraint-model-base.hpp"
#include "pinocchio/algorithm/constraints/constraint-data-generic.hpp"
#include "pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp"

namespace pinocchio
{

 template<
 typename _Scalar,
 int _Options,
 template<typename S, int O> class ConstraintCollectionTpl>
 struct traits<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>>
 {
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };
 typedef ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> ConstraintData;
 };

 template<
 typename _Scalar,
 int _Options,
 template<typename S, int O> class ConstraintCollectionTpl>
 struct ConstraintModelTpl
 : ConstraintModelBase<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>>
 , ConstraintCollectionTpl<_Scalar, _Options>::ConstraintModelVariant
 {
 typedef _Scalar Scalar;
 enum
 {
 Options = _Options
 };

 typedef ConstraintModelBase<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>>
 Base;
 typedef ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> ConstraintData;
 typedef ConstraintCollectionTpl<Scalar, Options> ConstraintCollection;
 typedef typename ConstraintCollection::ConstraintDataVariant ConstraintDataVariant;
 typedef typename ConstraintCollection::ConstraintModelVariant ConstraintModelVariant;

 ConstraintModelTpl()
 : ConstraintModelVariant()
 {
 }

 ConstraintModelTpl(const ConstraintModelVariant & cmodel_variant)
 : ConstraintModelVariant(cmodel_variant)
 {
 }

 template<typename ContraintModelDerived>
 ConstraintModelTpl(const ConstraintModelBase<ContraintModelDerived> & cmodel)
 : ConstraintModelVariant((ConstraintModelVariant)cmodel.derived())
 {
 BOOST_MPL_ASSERT(
 (boost::mpl::contains<typename ConstraintModelVariant::types, ContraintModelDerived>));
 }

 ConstraintData createData() const
 {
 return ::pinocchio::createData<Scalar, Options, ConstraintCollectionTpl>(*this);
 }
 };

} // namespace pinocchio

#endif // ifndef __pinocchio_algorithm_constraint_model_generic_hpp__