pinocchio  3.5.0
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_ALGORITHM_GEOMETRY
16 #define PINOCCHIO_SKIP_MULTIBODY_SAMPLE_MODELS
17 
18 #define PINOCCHIO_SKIP_CASADI_UNSUPPORTED
19 
20 namespace pinocchio
21 {
22  // forward declarations which are necessary to include pinocchio/autodiff/casadi.hpp
23  template<typename _Scalar, int _Options>
24  struct MotionZeroTpl;
25  template<typename _Scalar, int _Options>
26  class ForceTpl;
27  template<typename _Scalar, int _Options>
28  class MotionTpl;
29  template<typename _Scalar, int _Options>
30  struct SE3Tpl;
31 
32  template<typename Derived>
33  class ForceBase;
34  template<typename Derived>
35  class ForceDense;
36  template<typename Derived>
37  class MotionDense;
38  template<typename Vector6>
39  class MotionRef;
40 
41  namespace internal
42  {
43  template<typename Class, typename NewScalar, typename Scalar>
44  struct cast_call_normalize_method;
45  template<typename Type, typename Scalar>
46  struct RHSScalarMultiplication;
47  template<typename Type, typename Scalar>
48  struct LHSScalarMultiplication;
49  } // namespace internal
50 
51 } // namespace pinocchio
52 
53 #include "pinocchio/autodiff/casadi.hpp"
54 #define PINOCCHIO_SCALAR_TYPE ::casadi::SX
55 #include "pinocchio/context/generic.hpp"
56 
57 #undef PINOCCHIO_SCALAR_TYPE
58 #endif // #ifndef __pinocchio_context_casadi_hpp__
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:11