expose-algorithms.cpp

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