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// |
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// Copyright (c) 2015-2022 CNRS INRIA |
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// |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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void exposeAlgorithms() |
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{ |
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exposeJointsAlgo(); |
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exposeABA(); |
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exposeCRBA(); |
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exposeCentroidal(); |
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exposeRNEA(); |
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exposeCOM(); |
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exposeFramesAlgo(); |
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exposeEnergy(); |
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exposeKinematics(); |
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exposeContactJacobian(); |
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exposeConstraintDynamics(); |
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exposeConstraintDynamicsDerivatives(); |
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exposeContactDynamics(); |
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exposeContactInverseDynamics(); |
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exposeDelassus(); |
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exposeCAT(); |
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exposeJacobian(); |
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#if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE) |
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exposeGeometryAlgo(); |
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#endif // defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE) |
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exposeKinematicRegressor(); |
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exposeRegressor(); |
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exposeCholesky(); |
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exposeModelAlgo(); |
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exposeImpulseDynamics(); |
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// expose derivative version of the algorithms |
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exposeRNEADerivatives(); |
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exposeABADerivatives(); |
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exposeKinematicsDerivatives(); |
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exposeFramesDerivatives(); |
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exposeCentroidalDerivatives(); |
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exposeImpulseDynamicsDerivatives(); |
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exposeCones(); |
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exposeContactSolvers(); |
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} |
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} // namespace python |
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} // namespace pinocchio |
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