pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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proximal.hpp
1//
2// Copyright (c) 2026 INRIA
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <cassert>
8#include <vector>
9
10#include <Eigen/Core>
11#include <Eigen/Cholesky>
12#include <Eigen/SparseCholesky>
13
14#include "pinocchio/macros.hpp"
15#include "pinocchio/context.hpp"
16#include "pinocchio/multibody/fwd.hpp"
17
18#include "pinocchio/utils/check.hpp"
19// IWYU pragma: end_keep
20
21// IWYU pragma: begin_exports
22#include "pinocchio/src/algorithm/fwd.hxx"
23#include "pinocchio/src/algorithm/proximal.hxx"
24// IWYU pragma: end_exports