pch.hpp

// BSD 3-Clause License
//
// Copyright (C) 2025-2025, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_MULTIBODY_PCH_
#define CROCODDYL_MULTIBODY_PCH_

#include <pinocchio/algorithm/aba-derivatives.hpp>
#include <pinocchio/algorithm/aba.hpp>
#include <pinocchio/algorithm/center-of-mass-derivatives.hpp>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/algorithm/centroidal-derivatives.hpp>
#include <pinocchio/algorithm/centroidal.hpp>
#include <pinocchio/algorithm/cholesky.hpp>
#include <pinocchio/algorithm/compute-all-terms.hpp>
#include <pinocchio/algorithm/contact-dynamics.hpp>
#include <pinocchio/algorithm/frames-derivatives.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/geometry.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include <pinocchio/algorithm/joint-configuration.hpp>
#include <pinocchio/algorithm/kinematics-derivatives.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/algorithm/rnea-derivatives.hpp>
#include <pinocchio/algorithm/rnea.hpp>
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/multibody/fwd.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/spatial/force.hpp>
#include <pinocchio/spatial/motion.hpp>
#include <pinocchio/spatial/se3.hpp>
#include <stdexcept>

#ifdef PINOCCHIO_WITH_HPP_FCL
#include <pinocchio/multibody/fcl.hpp>
#include <pinocchio/multibody/geometry.hpp>
#endif

#ifdef CROCODDYL_WITH_CODEGEN
#include <pinocchio/codegen/cppadcg.hpp>

#include "crocoddyl/multibody/codegen/pinocchio_cast.hpp"
#endif

#endif // CROCODDYL_MULTIBODY_PCH_