// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
// SPDX-License-Identifier: BSD-3-Clause
/*
 * Originally developed for Prioritized Optimal Control (2014)
 * Refactored in 2018.
 * Design inspired by
 * - ACADO toolbox (http://acado.github.io)
 * - ADRL Control Toolbox (https://adrlab.bitbucket.io/ct/ct_doc/doc/html/index.html)
 */

#ifndef IDYNTREE_OPTIMALCONTROL_MULTIBODYSYSTEM_H
#define IDYNTREE_OPTIMALCONTROL_MULTIBODYSYSTEM_H

#include <iDynTree/DynamicalSystem.h>

namespace iDynTree
{

class Model;

namespace optimalcontrol
{

/**
 * @warning This class is still in active development, and so API interface can change between
 * iDynTree versions.
 * \ingroup iDynTreeExperimental
 */

class MultiBodySystem : public iDynTree::optimalcontrol::DynamicalSystem
{

public:
    MultiBodySystem(const iDynTree::Model&);
};
} // namespace optimalcontrol
} // namespace iDynTree

#endif /* end of include guard: IDYNTREE_OPTIMALCONTROL_MULTIBODYSYSTEM_H */
