context/cppad.hpp
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #ifndef __pinocchio_context_cppad_hpp__
6 #define __pinocchio_context_cppad_hpp__
7 
8 #include <cppad/cppad.hpp>
9 
10 #define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS_DERIVATIVES
11 #define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
12 #define PINOCCHIO_SKIP_ALGORITHM_CONTACT_DYNAMICS
13 #define PINOCCHIO_SKIP_ALGORITHM_CONTACT_CHOLESKY
14 #define PINOCCHIO_SKIP_ALGORITHM_CONTACT_JACOBIAN
15 #define PINOCCHIO_SKIP_ALGORITHM_CHOLESKY
16 #define PINOCCHIO_SKIP_MULTIBODY_SAMPLE_MODELS
17 
18 namespace pinocchio
19 {
20  // forward declarations which are necessary to include pinocchio/autodiff/cppad.hpp
21  template<typename _Scalar, int _Options>
22  struct MotionZeroTpl;
23  template<typename _Scalar, int _Options>
24  class ForceTpl;
25  template<typename _Scalar, int _Options>
26  class MotionTpl;
27  template<typename _Scalar, int _Options>
28  struct SE3Tpl;
29 
30  template<typename Derived>
31  class ForceBase;
32  template<typename Derived>
33  class ForceDense;
34  template<typename Derived>
35  class MotionDense;
36  template<typename Vector6>
37  class MotionRef;
38 
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 
54 #define PINOCCHIO_SCALAR_TYPE ::CppAD::AD<double>
56 
57 #undef PINOCCHIO_SCALAR_TYPE
58 #endif // #ifndef __pinocchio_context_cppad_hpp__
generic.hpp
pinocchio::Motion
MotionTpl<::CppAD::AD< double >, 0 > Motion
Definition: context/cppad.hpp:37
cppad.hpp
pinocchio::MotionTpl
Definition: context/casadi.hpp:27
pinocchio::MotionRef
Definition: context/casadi.hpp:38
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27


pinocchio
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autogenerated on Sun Dec 22 2024 03:41:08