pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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fwd.hpp
1//
2// Copyright (c) 2025 INRIA
3//
4
5#pragma once
6
7#include "pinocchio/algorithm/fwd.hpp"
8
9namespace pinocchio
10{
11 // -------------------------
12 // PGS constraint solver
13 template<typename Scalar, int Options>
14 struct PGSConstraintSolverTpl;
15 typedef PGSConstraintSolverTpl<context::Scalar, context::Options> PGSConstraintSolver;
16
17 template<typename Scalar>
18 struct PGSSolverSettingsTpl;
19 typedef PGSSolverSettingsTpl<context::Scalar> PGSSolverSettings;
20
21 template<typename Scalar, int Options>
22 struct PGSSolverResultTpl;
23 typedef PGSSolverResultTpl<context::Scalar, context::Options> PGSSolverResult;
24
25 template<typename Scalar>
26 struct PGSSolverStatsTpl;
27 typedef PGSSolverStatsTpl<context::Scalar> PGSSolverStats;
28
29 // -------------------------
30 // ADMM constraint solver
31 template<typename Scalar, int Options>
32 struct ADMMConstraintSolverTpl;
33 typedef ADMMConstraintSolverTpl<context::Scalar, context::Options> ADMMConstraintSolver;
34
35 template<typename Scalar>
36 struct ADMMSolverSettingsTpl;
37 typedef ADMMSolverSettingsTpl<context::Scalar> ADMMSolverSettings;
38
39 template<typename Scalar, int Options>
40 struct ADMMSolverResultTpl;
41 typedef ADMMSolverResultTpl<context::Scalar, context::Options> ADMMSolverResult;
42
43 template<typename Scalar>
44 struct ADMMSolverStatsTpl;
45 typedef ADMMSolverStatsTpl<context::Scalar> ADMMSolverStats;
46
47} // namespace pinocchio
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::ADMMSolverResultTpl
Struct describing the solution of the ADMM constraint solver after calling the solve method....
Definition admm-solver.hpp:462
pinocchio::ADMMSolverSettingsTpl
Settings for the ADMM constraint solver loop.
Definition admm-solver.hpp:249
pinocchio::ADMMSolverStatsTpl
Struct to track per iteration progress of ADMM constraint solver.
Definition admm-solver.hpp:734
pinocchio::PGSConstraintSolverTpl
Projected Gauss Siedel solver.
Definition pgs-solver.hpp:59
pinocchio::PGSSolverResultTpl
Struct describing the solution of the PGS constraint solver after calling the solve method....
Definition pgs-solver.hpp:233
pinocchio::PGSSolverSettingsTpl
Settings for the PGS constraint solver loop.
Definition pgs-solver.hpp:148
pinocchio::PGSSolverStatsTpl
Struct to track per iteration progress of PGS constraint solver.
Definition pgs-solver.hpp:424