constraint-data-base.hpp

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//
// Copyright (c) 2023 INRIA
//
 
#ifndef __pinocchio_algorithm_constraint_data_base_hpp__
#define __pinocchio_algorithm_constraint_data_base_hpp__
 
#include "pinocchio/algorithm/fwd.hpp"
 
namespace pinocchio
{
 
  template<typename Derived>
  struct ConstraintDataBase : NumericalBase<Derived>
  {
    typedef typename traits<Derived>::Scalar Scalar;
    typedef typename traits<Derived>::ConstraintModel ConstraintModel;
 
    Derived & derived()
    {
      return static_cast<Derived &>(*this);
    }
    const Derived & derived() const
    {
      return static_cast<const Derived &>(*this);
    }
  };
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_algorithm_constraint_data_base_hpp__