algorithms.hpp

//
// Copyright (c) 2016-2023 CNRS INRIA
//

#pragma once

#include "pinocchio/bindings/python/fwd.hpp"

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 void exposeJointsAlgo();
 void exposeABA();
 void exposeCRBA();
 void exposeCentroidal();
 void exposeRNEA();
 void exposeCOM();
 void exposeFramesAlgo();
 void exposeEnergy();
 void exposeKinematics();
 void exposeContactJacobian();
 void exposeContactDynamics();
 void exposeConstraintDynamics();
 void exposeConstraintDynamicsDerivatives();
 void exposeContactInverseDynamics();
 void exposeDelassus();
 void exposeCAT();
 void exposeJacobian();
 void exposeGeometryAlgo();
 void exposeKinematicRegressor();
 void exposeRegressor();
 void exposeCholesky();
 void exposeModelAlgo();
 void exposeImpulseDynamics();
 void exposeLcaba();

 void exposeRNEADerivatives();
 void exposeABADerivatives();
 void exposeKinematicsDerivatives();
 void exposeFramesDerivatives();
 void exposeCentroidalDerivatives();
 void exposeImpulseDynamicsDerivatives();

 void exposeCones();

 void exposeConstraintSolvers();

 void exposeAlgorithms();

 } // namespace python
} // namespace pinocchio