pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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casadi.hpp
1//
2// Copyright (c) 2022 INRIA
3//
4
5#ifndef __pinocchio_context_casadi_hpp__
6#define __pinocchio_context_casadi_hpp__
7
8#define PINOCCHIO_SKIP_ALGORITHM_MODEL
9#define PINOCCHIO_SKIP_ALGORITHM_GEOMETRY
10#define PINOCCHIO_SKIP_MULTIBODY_SAMPLE_MODELS
11
12#define PINOCCHIO_SKIP_CASADI_UNSUPPORTED
13
14namespace pinocchio
15{
16 // forward declarations which are necessary to include pinocchio/autodiff/casadi.hpp
17 template<typename _Scalar, int _Options>
18 struct MotionZeroTpl;
19 template<typename _Scalar, int _Options>
20 class ForceTpl;
21 template<typename _Scalar, int _Options>
22 class MotionTpl;
23 template<typename _Scalar, int _Options>
24 struct SE3Tpl;
25
26 template<typename Derived>
27 class ForceBase;
28 template<typename Derived>
29 class ForceDense;
30 template<typename Derived>
31 class MotionDense;
32 template<typename Vector6>
33 class MotionRef;
34
35 namespace internal
36 {
37 template<typename Class, typename NewScalar, typename Scalar>
38 struct cast_call_normalize_method;
39 template<typename Type, typename Scalar>
40 struct RHSScalarMultiplication;
41 template<typename Type, typename Scalar>
42 struct LHSScalarMultiplication;
43 } // namespace internal
44
45} // namespace pinocchio
46
47#include "pinocchio/autodiff/casadi.hpp"
48#define PINOCCHIO_SCALAR_TYPE ::casadi::SX
49#include "pinocchio/context/generic.hpp"
50
51#undef PINOCCHIO_SCALAR_TYPE
52#endif // #ifndef __pinocchio_context_casadi_hpp__
Main pinocchio namespace.
Definition treeview.dox:11