UpdateNrVars.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_solver/api.h>
 
#include <Tasks/QPSolver.h>
 
namespace mc_solver
{
 
namespace utils
{
 
struct MC_SOLVER_DLLAPI UpdateNrVarsData
{
protected:
  int nrVars_;
  int ABegin_;
};
 
struct MC_SOLVER_DLLAPI UpdateNrVarsRobot : public UpdateNrVarsData
{
protected:
  explicit UpdateNrVarsRobot(unsigned int rIndex);
 
  void updateNrVarsImpl(const std::vector<rbd::MultiBody> & mbs, const tasks::qp::SolverData & data);
 
  unsigned int rIndex_;
};
 
struct MC_SOLVER_DLLAPI UpdateNrVarsLambda : public UpdateNrVarsData
{
protected:
  explicit UpdateNrVarsLambda(const tasks::qp::ContactId & cid);
 
  void updateNrVarsImpl(const std::vector<rbd::MultiBody> & mbs, const tasks::qp::SolverData & data);
 
  tasks::qp::ContactId cid_;
};
 
} // namespace utils
 
} // namespace mc_solver