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//
// Copyright (c) 2018-2024 CNRS INRIA
//
#ifndef __pinocchio_fwd_hpp__
#define __pinocchio_fwd_hpp__
// Forward declaration of the main pinocchio namespace
namespace pinocchio
{
}
#ifdef _WIN32
#include <windows.h>
#undef far
#undef near
#endif
#include <cassert>
#include "pinocchio/macros.hpp"
#include "pinocchio/deprecation.hpp"
#include "pinocchio/warning.hpp"
#include "pinocchio/config.hpp"
#include "pinocchio/unsupported.hpp"
#include "pinocchio/utils/helpers.hpp"
#include "pinocchio/utils/cast.hpp"
#include "pinocchio/utils/check.hpp"
#include "pinocchio/container/boost-container-limits.hpp"
#ifdef PINOCCHIO_EIGEN_CHECK_MALLOC
#ifndef EIGEN_RUNTIME_NO_MALLOC
#define EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
#define EIGEN_RUNTIME_NO_MALLOC
#endif
#endif
#include <Eigen/Core>
#include <Eigen/Sparse>
#include <Eigen/SparseCholesky>
#ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
#include <Eigen/AccelerateSupport>
#endif
#ifdef PINOCCHIO_EIGEN_CHECK_MALLOC
#ifdef EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
#undef EIGEN_RUNTIME_NO_MALLOC
#undef EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
#endif
#endif
#include "pinocchio/eigen-macros.hpp"
#ifdef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
#include <unsupported/Eigen/CXX11/Tensor>
#endif
#include "pinocchio/core/binary-op.hpp"
#include "pinocchio/core/unary-op.hpp"
#include <cstddef> // std::size_t
namespace pinocchio
{
template<class C>
struct traits
{
};
struct Blank
{
};
namespace internal
{
template<typename T>
struct traits
{
};
} // namespace internal
template<class Derived>
struct NumericalBase
{
typedef typename traits<Derived>::Scalar Scalar;
};
template<typename NewScalar, class C>
struct CastType;
template<typename To, typename From>
struct ScalarCast
{
static To cast(const From & value)
{
return static_cast<To>(value);
}
};
template<typename To, typename From>
To scalar_cast(const From & value)
{
return ScalarCast<To, From>::cast(value);
}
enum ArgumentPosition
{
ARG0 = 0,
ARG1 = 1,
ARG2 = 2,
ARG3 = 3,
ARG4 = 4
};
enum AssignmentOperatorType
{
SETTO,
ADDTO,
RMTO
};
const int Dynamic = -1;
struct ReturnTypeNotDefined;
typedef Eigen::Matrix<bool, Eigen::Dynamic, 1> VectorXb;
} // namespace pinocchio
#include "pinocchio/context.hpp"
#endif // #ifndef __pinocchio_fwd_hpp__