fwd.hpp

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

#pragma once

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

#include <memory>

namespace pinocchio
{
 namespace python
 {
 using eigenpy::register_symbolic_link_to_registered_type;

 // 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();
 void exposeGramSchmidtOrthonormalisation();

 // 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();
 void exposeConstraints();

#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_COLLISION_PYTHON_BINDINGS
 void exposeCoal();
 void exposeCollision();
#endif // PINOCCHIO_PYTHON_INTERFACE_WITH_COLLISION_PYTHON_BINDINGS

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

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

 } // namespace python
} // namespace pinocchio