dynamics-wrap.hpp

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#pragma once
 
#include "aligator/compat/crocoddyl/fwd.hpp"
#include "aligator/core/explicit-dynamics.hpp"
#include <crocoddyl/core/action-base.hpp>
 
namespace aligator {
namespace compat {
namespace croc {
 
template <typename Scalar>
struct DynamicsDataWrapperTpl : ExplicitDynamicsDataTpl<Scalar> {
  using Base = ExplicitDynamicsDataTpl<Scalar>;
  using CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>;
  explicit DynamicsDataWrapperTpl(const CrocActionModel &action_model)
      : Base((int)action_model.get_state()->get_ndx(),
             (int)action_model.get_nu(),
             (int)action_model.get_state()->get_nx(),
             (int)action_model.get_state()->get_ndx()) {}
};
 
} // namespace croc
} // namespace compat
} // namespace aligator