Program Listing for File casadi.hpp
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)
//
// Copyright (c) 2022 INRIA
//
#ifndef __pinocchio_context_casadi_hpp__
#define __pinocchio_context_casadi_hpp__
#define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS_DERIVATIVES
#define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_DYNAMICS
#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_CHOLESKY
#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_JACOBIAN
#define PINOCCHIO_SKIP_ALGORITHM_CHOLESKY
#define PINOCCHIO_SKIP_ALGORITHM_MODEL
#define PINOCCHIO_SKIP_MULTIBODY_SAMPLE_MODELS
#define PINOCCHIO_SKIP_CASADI_UNSUPPORTED
namespace pinocchio
{
// forward declarations which are necessary to include pinocchio/autodiff/casadi.hpp
template<typename _Scalar, int _Options>
struct MotionZeroTpl;
template<typename _Scalar, int _Options>
class ForceTpl;
template<typename _Scalar, int _Options>
class MotionTpl;
template<typename _Scalar, int _Options>
struct SE3Tpl;
template<typename Derived>
class ForceBase;
template<typename Derived>
class ForceDense;
template<typename Derived>
class MotionDense;
template<typename Vector6>
class MotionRef;
namespace internal
{
template<typename Class, typename NewScalar, typename Scalar>
struct cast_call_normalize_method;
template<typename Type, typename Scalar>
struct RHSScalarMultiplication;
template<typename Type, typename Scalar>
struct LHSScalarMultiplication;
} // namespace internal
} // namespace pinocchio
#include "pinocchio/autodiff/casadi.hpp"
#define PINOCCHIO_SCALAR_TYPE ::casadi::SX
#include "pinocchio/context/generic.hpp"
#undef PINOCCHIO_SCALAR_TYPE
#endif // #ifndef __pinocchio_context_casadi_hpp__