bindings/python/pinocchio/casadi/__init__.py

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#
# Copyright (c) 2020 INRIA
#
# ruff: noqa: F401, F403, F405
 
# Manually register submodules
import sys
 
from .. import utils
from ..explog import exp, log
from ..pinocchio_pywrap_casadi import *
from ..pinocchio_pywrap_casadi import __raw_version__, __version__
 
sys.modules["pinocchio.casadi.rpy"] = rpy
sys.modules["pinocchio.casadi.cholesky"] = cholesky
 
if WITH_HPP_FCL:
    try:
        import hppfcl
        from hppfcl import (
            CachedMeshLoader,
            CollisionGeometry,
            CollisionResult,
            Contact,
            DistanceResult,
            MeshLoader,
            StdVec_CollisionResult,
            StdVec_Contact,
            StdVec_DistanceResult,
        )
 
        WITH_HPP_FCL_BINDINGS = True
    except ImportError:
        WITH_HPP_FCL_BINDINGS = False
else:
    WITH_HPP_FCL_BINDINGS = False