5#ifndef __pinocchio_algorithm_contact_solver_base_hpp__
6#define __pinocchio_algorithm_contact_solver_base_hpp__
8#include "pinocchio/math/fwd.hpp"
9#include "pinocchio/math/comparison-operators.hpp"
11#ifdef PINOCCHIO_WITH_HPP_FCL
12 #include <hpp/fcl/timings.h>
18 template<
typename _Scalar>
23#ifdef PINOCCHIO_WITH_HPP_FCL
24 typedef hpp::fcl::CPUTimes CPUTimes;
25 typedef hpp::fcl::Timer Timer;
36#ifdef PINOCCHIO_WITH_HPP_FCL
57 PINOCCHIO_CHECK_INPUT_ARGUMENT(
max_it > 0,
"max_it should be greater than 0.");
69 PINOCCHIO_CHECK_INPUT_ARGUMENT(
82 PINOCCHIO_CHECK_INPUT_ARGUMENT(
105#ifdef PINOCCHIO_WITH_HPP_FCL
106 CPUTimes getCPUTimes()
const
108 return timer.elapsed();
128#ifdef PINOCCHIO_WITH_HPP_FCL
Main pinocchio namespace.