pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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delassus-operator.hpp
1//
2// Copyright (c) 2024 INRIA
3//
4
5#pragma once
6
7// IWYU pragma: begin_keep
8#include <cassert>
9#include <cstddef>
10#include <stdexcept>
11#include <new>
12#include <functional>
13#include <utility>
14#include <vector>
15#include <type_traits>
16
17#include <boost/fusion/container/vector.hpp>
18#include <boost/container/detail/std_fwd.hpp>
19#include <boost/variant.hpp>
20
21#include <Eigen/Core>
22#include <Eigen/SparseCore>
23#ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
24 #include <Eigen/AccelerateSupport>
25#endif // ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
26
27#include "pinocchio/fwd.hpp"
28#include "pinocchio/macros.hpp"
29#include "pinocchio/eigen-common.hpp"
30
31#include "pinocchio/utils/alloca.hpp"
32#include "pinocchio/utils/promote-static-eval.hpp"
33#include "pinocchio/utils/reference.hpp"
34#include "pinocchio/utils/size-in-bytes.hpp"
35
36#include "pinocchio/container/eigen-storage.hpp"
37
38#include "pinocchio/math.hpp"
39#include "pinocchio/multibody.hpp"
40#include "pinocchio/multibody/joint.hpp"
41
42#include "pinocchio/algorithm/fwd.hpp"
43#include "pinocchio/constraints.hpp"
44#include "pinocchio/algorithm/diagonal-preconditioner.hpp"
45#include "pinocchio/algorithm/aba.hpp"
46#include "pinocchio/algorithm/constraint-cholesky.hpp"
47
48#include "pinocchio/tracy.hpp"
49
50// IWYU pragma: end_keep
51
52// IWYU pragma: begin_exports
53#include "pinocchio/src/algorithm/delassus-operator-base.hxx"
54#include "pinocchio/src/algorithm/delassus-operator-sparse.hxx"
55#include "pinocchio/src/algorithm/delassus-operator-rigid-body-visitors.hxx"
56#include "pinocchio/src/algorithm/delassus-operator-rigid-body.hxx"
57#include "pinocchio/src/algorithm/delassus-operator-dense.hxx"
58#include "pinocchio/src/algorithm/delassus-operator-preconditioned.hxx"
59#include "pinocchio/src/algorithm/delassus-operator-cholesky-expression.hxx"
60// IWYU pragma: end_exports