From 6a6b9abcffa0b2761e37d2da895e42aaeb42b253 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <proyan@users.noreply.github.com>
Date: Mon, 17 Aug 2020 21:49:39 +0200
Subject: [PATCH] [contact-models] cast to newscalar
---
src/algorithm/contact-info.hpp | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/src/algorithm/contact-info.hpp b/src/algorithm/contact-info.hpp
index 06bb5a0ba..ca11e5a07 100644
--- a/src/algorithm/contact-info.hpp
+++ b/src/algorithm/contact-info.hpp
@@ -149,6 +149,21 @@ namespace pinocchio
}
return -1;
}
+
+ /// \returns An expression of *this with the Scalar type casted to NewScalar.
+ template<typename NewScalar>
+ RigidContactModelTpl<NewScalar,Options> cast() const
+ {
+ typedef RigidContactModelTpl<NewScalar,Options> ReturnType;
+ ReturnType res;
+ res.type = type;
+ res.frame_id = frame_id;
+ res.reference_frame =reference_frame;
+ res.desired_contact_placement = desired_contact_placement.template cast<NewScalar>();
+ res.desired_contact_velocity = desired_contact_velocity.template cast<NewScalar>();
+ res.desired_contact_acceleration = desired_contact_acceleration.template cast<NewScalar>();
+ return res;
+ }
};
--
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