5#ifndef __pinocchio_algorithm_pgs_solver_hpp__
6#define __pinocchio_algorithm_pgs_solver_hpp__
8#include "pinocchio/algorithm/constraints/fwd.hpp"
9#include "pinocchio/algorithm/contact-solver-base.hpp"
15 template<
typename _Scalar>
20 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorXs;
47 const Eigen::MatrixBase<VectorLike> & g,
49 const Eigen::DenseBase<VectorLikeOut> &
x,
54 VectorXs
x, x_previous;
55#ifdef PINOCCHIO_WITH_HPP_FCL
62#include "pinocchio/algorithm/pgs-solver.hxx"
Main pinocchio namespace.