fwd.hpp

//
// Copyright (c) 2015-2024 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_python_fwd_hpp__
#define __pinocchio_python_fwd_hpp__

#include "pinocchio/bindings/python/context.hpp"
#include <eigenpy/eigenpy.hpp>

#include <memory>
#define PINOCCHIO_SHARED_PTR_HOLDER_TYPE(T) ::std::shared_ptr<T>

namespace pinocchio
{
 namespace python
 {
 // Expose spatial classes
 void exposeSE3();
 void exposeForce();
 void exposeMotion();
 void exposeInertia();
 void exposeSymmetric3();
 void exposeExplog();
 void exposeSkew();
 void exposeLieGroups();

 // Expose math module
 void exposeRpy();
 void exposeEigenTypes();
 void exposeConversions();
 void exposeLinalg();
 void exposeTridiagonalMatrix();
 void exposeLanczosDecomposition();

 // Expose multibody classes
 void exposeJoints();
 void exposeModel();
 void exposeFrame();
 void exposeData();
 void exposeSampleModels();

 // Expose geometry module
 void exposeGeometry();

 // Expose parsers
 void exposeParsers();
 // Expose ModelConfigurationConverter
 void exposeModelConfigurationConverter();

 // Expose algorithms
 void exposeAlgorithms();
 void exposeExtras();

#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS
 void exposeFCL();
 void exposeCollision();
#endif // PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS

#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP
 void exposePool();
 void exposeParallelAlgorithms();
#endif

#if defined(PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS) \
 && defined(PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP)
 void exposeParallelCollision();
 void exposePoolCollision();
#endif

 } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_fwd_hpp__