default-check.hpp

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//
// Copyright (c) 2016-2018 CNRS
//
 
#ifndef __pinocchio_default_check_hpp__
#define __pinocchio_default_check_hpp__
 
#include <pinocchio/algorithm/check.hpp>
#include <pinocchio/algorithm/aba.hpp>
#include <pinocchio/algorithm/crba.hpp>
 
namespace pinocchio
{
  inline AlgorithmCheckerList<ParentChecker, CRBAChecker, ABAChecker> makeDefaultCheckerList()
  {
    return makeAlgoCheckerList(ParentChecker(), CRBAChecker(), ABAChecker());
  }
 
#define DEFAULT_CHECKERS makeDefaultCheckerList()
 
  template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
  inline bool ModelTpl<Scalar, Options, JointCollectionTpl>::check() const
  {
    return this->check(DEFAULT_CHECKERS);
  }
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_default_check_hpp__