5#ifndef __pinocchio_fwd_hpp__
6#define __pinocchio_fwd_hpp__
21#include "pinocchio/macros.hpp"
22#include "pinocchio/deprecation.hpp"
23#include "pinocchio/warning.hpp"
24#include "pinocchio/config.hpp"
25#include "pinocchio/unsupported.hpp"
27#include "pinocchio/utils/helpers.hpp"
28#include "pinocchio/utils/cast.hpp"
29#include "pinocchio/utils/check.hpp"
31#include "pinocchio/container/boost-container-limits.hpp"
33#ifdef PINOCCHIO_EIGEN_CHECK_MALLOC
34 #ifndef EIGEN_RUNTIME_NO_MALLOC
35 #define EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
36 #define EIGEN_RUNTIME_NO_MALLOC
41#include <Eigen/Sparse>
42#include <Eigen/SparseCholesky>
44#ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
45 #include <Eigen/AccelerateSupport>
48#ifdef PINOCCHIO_EIGEN_CHECK_MALLOC
49 #ifdef EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
50 #undef EIGEN_RUNTIME_NO_MALLOC
51 #undef EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
55#include "pinocchio/eigen-macros.hpp"
56#ifdef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
57 #include <unsupported/Eigen/CXX11/Tensor>
60#include "pinocchio/core/binary-op.hpp"
61#include "pinocchio/core/unary-op.hpp"
88 template<
class Derived>
98 template<
typename NewScalar,
class C>
104 template<
typename To,
typename From>
107 static To cast(
const From & value)
109 return static_cast<To>(value);
113 template<
typename To,
typename From>
114 To scalar_cast(
const From & value)
130 enum AssignmentOperatorType
146 typedef Eigen::Matrix<bool, Eigen::Dynamic, 1> VectorXb;
149#include "pinocchio/context.hpp"
Main pinocchio namespace.
ArgumentPosition
Argument position. Used as template parameter to refer to an argument.
Type of the cast of a class C templated by Scalar and Options, to a new NewScalar type....
Cast scalar type from type FROM to type TO.
Common traits structure to fully define base classes for CRTP.