Algorithms 
==============
Centroidal
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.. automodule:: Centroidal
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Cholesky
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.. automodule:: pinocchio.cholesky
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Collision Algorithms
----------------------
.. automodule:: Collision
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Contact Dynamics 
----------------------
.. automodule:: Contact
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.. automodule:: ContactSolvers
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Dynamics
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.. automodule:: Dynamics
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Energy
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.. automodule:: Energy
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General
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.. automodule:: General
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Jacobian
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.. automodule:: Jacobian
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Kinematics
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.. automodule:: Kinematics
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Mass
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.. automodule:: Mass
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Regressor
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.. automodule:: Regressor
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