copy.hpp

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//
// Copyright (c) 2016-2020 CNRS INRIA
//

#ifndef __pinocchio_copy_hpp__
#define __pinocchio_copy_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
  
namespace pinocchio
{
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline void
  copy(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
       const DataTpl<Scalar,Options,JointCollectionTpl> & origin,
       DataTpl<Scalar,Options,JointCollectionTpl> & dest,
       KinematicLevel kinematic_level);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  PINOCCHIO_DEPRECATED inline void
  copy(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
       const DataTpl<Scalar,Options,JointCollectionTpl> & origin,
       DataTpl<Scalar,Options,JointCollectionTpl> & dest,
       int kinematic_level)
  {
    copy(model,origin,dest,static_cast<KinematicLevel>(kinematic_level));
  }

} // namespace pinocchio 

/* --- Details -------------------------------------------------------------------- */
//#include "pinocchio/algorithm/copy.hxx"

namespace pinocchio
{
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
  inline void
  copy(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
       const DataTpl<Scalar,Options,JointCollectionTpl> & origin,
       DataTpl<Scalar,Options,JointCollectionTpl> & dest,
       KinematicLevel kinematic_level)
  {
    typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
    typedef typename Model::JointIndex JointIndex;
    
    PINOCCHIO_CHECK_INPUT_ARGUMENT(kinematic_level>=POSITION);
    
    for(JointIndex jid=1; jid<(JointIndex)model.njoints; ++jid)
    {
      dest.oMi[jid]    = origin.oMi [jid];
      if(kinematic_level >= VELOCITY)
      {
        dest.v[jid]    = origin.v   [jid];
      }
      if(kinematic_level >= ACCELERATION)
      {
        dest.a[jid]    = origin.a   [jid];
        dest.a_gf[jid] = origin.a_gf[jid];
        dest.f[jid]    = origin.f   [jid];
      }
    }
  }


} // namespace pinocchio

#endif // ifndef __pinocchio_copy_hpp__