pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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constraint-cholesky.hpp
1//
2// Copyright (c) INRIA 2026
3//
4
5#pragma once
6
7// IWYU pragma: begin_keep
8#include <cassert>
9#include <algorithm>
10#include <stdexcept>
11#include <cstddef>
12#include <vector>
13
14#include <Eigen/Core>
15
16#include "pinocchio/macros.hpp"
17#include "pinocchio/deprecated.hpp"
18#include "pinocchio/eigen-common.hpp"
19
20#include "pinocchio/utils/alloca.hpp"
21#include "pinocchio/utils/check.hpp"
22#include "pinocchio/utils/reference.hpp"
23#include "pinocchio/utils/size-in-bytes.hpp"
24
25#include "pinocchio/container/eigen-storage.hpp"
26
27#include "pinocchio/math.hpp"
28#include "pinocchio/multibody.hpp"
29#include "pinocchio/constraints.hpp"
30#include "pinocchio/algorithm/check-model.hpp"
31#include "pinocchio/algorithm/delassus-operator.hpp"
32#include "pinocchio/algorithm/delassus.hpp"
33// IWYU pragma: end_keep
34
35// IWYU pragma: begin_exports
36#include "pinocchio/algorithm/fwd.hpp"
37#include "pinocchio/src/algorithm/constraint-cholesky-decl.hxx"
38#include "pinocchio/src/algorithm/constraint-cholesky-def.hxx"
39// IWYU pragma: end_exports