cppad.hpp

//
// Copyright (c) 2021 INRIA
//

#pragma once

#include "pinocchio/autodiff/cppad.hpp"

#define PINOCCHIO_PYTHON_SCALAR_TYPE ::CppAD::AD<double>
#include "pinocchio/bindings/python/context/generic.hpp"
#undef PINOCCHIO_PYTHON_SCALAR_TYPE

#define PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
#define PINOCCHIO_PYTHON_NO_SERIALIZATION
#define PINOCCHIO_PYTHON_SKIP_REACHABLE_WORKSPACE

#include <eigenpy/eigenpy.hpp>
#include <eigenpy/user-type.hpp>

namespace pinocchio
{
 namespace python
 {
 inline void exposeSpecificTypeFeatures()
 {
 boost::python::import("pycppad");
 };

 inline boost::python::object getScalarType()
 {
 return eigenpy::getInstanceClass<context::Scalar>();
 }

 } // namespace python
} // namespace pinocchio