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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeMultibody() { |
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exposeFrictionCone(); |
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exposeWrenchCone(); |
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exposeCoPSupport(); |
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exposeStateMultibody(); |
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exposeActuationFloatingBase(); |
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exposeActuationFull(); |
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exposeActuationFloatingBaseThruster(); |
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exposeForceAbstract(); |
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exposeContactAbstract(); |
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exposeImpulseAbstract(); |
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exposeContactMultiple(); |
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exposeImpulseMultiple(); |
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exposeDataCollectorMultibody(); |
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exposeDataCollectorContacts(); |
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exposeDataCollectorImpulses(); |
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exposeDifferentialActionFreeFwdDynamics(); |
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exposeDifferentialActionFreeInvDynamics(); |
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exposeDifferentialActionContactFwdDynamics(); |
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exposeDifferentialActionContactInvDynamics(); |
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exposeActionImpulseFwdDynamics(); |
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exposeResidualState(); |
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exposeResidualCentroidalMomentum(); |
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exposeResidualCoMPosition(); |
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exposeResidualContactForce(); |
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exposeResidualContactFrictionCone(); |
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exposeResidualContactCoPPosition(); |
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exposeResidualContactWrenchCone(); |
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exposeResidualContactControlGrav(); |
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exposeResidualControlGrav(); |
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exposeResidualFramePlacement(); |
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exposeResidualFrameRotation(); |
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exposeResidualFrameTranslation(); |
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exposeResidualFrameVelocity(); |
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exposeResidualImpulseCoM(); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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#ifdef CROCODDYL_WITH_PAIR_COLLISION |
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exposeResidualPairCollision(); |
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#endif |
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#endif |
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exposeContact1D(); |
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exposeContact2D(); |
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exposeContact3D(); |
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exposeContact6D(); |
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exposeImpulse3D(); |
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exposeImpulse6D(); |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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