Define CROCODDYL_DERIVED_CAST

• Defined in File macros.hpp

Define Documentation

CROCODDYL_DERIVED_CAST(base_class, derived_class)

Macro to declare the code for casting a Crocoddyl class When including this macro within a class, it is necessary to define the specialized cast operator, e.g., template <typename NewScalar> derived_class<NewScalar> cast() const { typedef derived_class<NewScalar> ReturnType; ReturnType ret(“pass arguments from ‘this’”); return ret; }.