pinocchio  3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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_CONSTRAINED_DYNAMICS_DERIVATIVES
9 #define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
10 #define PINOCCHIO_SKIP_ALGORITHM_CONTACT_DYNAMICS
11 #define PINOCCHIO_SKIP_ALGORITHM_CONTACT_CHOLESKY
12 #define PINOCCHIO_SKIP_ALGORITHM_CONTACT_JACOBIAN
13 #define PINOCCHIO_SKIP_ALGORITHM_CHOLESKY
14 #define PINOCCHIO_SKIP_ALGORITHM_MODEL
15 #define PINOCCHIO_SKIP_MULTIBODY_SAMPLE_MODELS
16 
17 #define PINOCCHIO_SKIP_CASADI_UNSUPPORTED
18 
19 namespace pinocchio
20 {
21  // forward declarations which are necessary to include pinocchio/autodiff/casadi.hpp
22  template<typename _Scalar, int _Options>
23  struct MotionZeroTpl;
24  template<typename _Scalar, int _Options>
25  class ForceTpl;
26  template<typename _Scalar, int _Options>
27  class MotionTpl;
28  template<typename _Scalar, int _Options>
29  struct SE3Tpl;
30 
31  template<typename Derived>
32  class ForceBase;
33  template<typename Derived>
34  class ForceDense;
35  template<typename Derived>
36  class MotionDense;
37  template<typename Vector6>
38  class MotionRef;
39 
40  namespace internal
41  {
42  template<typename Class, typename NewScalar, typename Scalar>
43  struct cast_call_normalize_method;
44  template<typename Type, typename Scalar>
45  struct RHSScalarMultiplication;
46  template<typename Type, typename Scalar>
47  struct LHSScalarMultiplication;
48  } // namespace internal
49 
50 } // namespace pinocchio
51 
52 #include "pinocchio/autodiff/casadi.hpp"
53 #define PINOCCHIO_SCALAR_TYPE ::casadi::SX
54 #include "pinocchio/context/generic.hpp"
55 
56 #undef PINOCCHIO_SCALAR_TYPE
57 #endif // #ifndef __pinocchio_context_casadi_hpp__
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:11