fwd.hpp

//
// Copyright (c) 2020-2024 INRIA
//

#ifndef __pinocchio_algorithm_fwd_hpp__
#define __pinocchio_algorithm_fwd_hpp__

#include "pinocchio/fwd.hpp"

namespace pinocchio
{
 template<typename Scalar>
 struct ProximalSettingsTpl;
 typedef ProximalSettingsTpl<context::Scalar> ProximalSettings;

 template<typename Scalar, int Options>
 struct ContactCholeskyDecompositionTpl;
 typedef ContactCholeskyDecompositionTpl<context::Scalar, context::Options>
 ContactCholeskyDecomposition;

 template<typename Scalar, int Options>
 struct RigidConstraintModelTpl;
 template<typename Scalar, int Options>
 struct RigidConstraintDataTpl;

 typedef RigidConstraintModelTpl<context::Scalar, context::Options> RigidConstraintModel;
 typedef RigidConstraintDataTpl<context::Scalar, context::Options> RigidConstraintData;

 template<typename Scalar, int Options = 0>
 struct DelassusOperatorDenseTpl;
 typedef DelassusOperatorDenseTpl<context::Scalar, context::Options> DelassusOperatorDense;
 template<
 typename Scalar,
 int Options = 0,
 class SparseCholeskyDecomposition = Eigen::SimplicialLLT<Eigen::SparseMatrix<Scalar, Options>>>
 struct DelassusOperatorSparseTpl;
 typedef DelassusOperatorSparseTpl<context::Scalar, context::Options> DelassusOperatorSparse;
} // namespace pinocchio

#endif // ifndef __pinocchio_algorithm_fwd_hpp__