pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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casadi-algo.hpp
1//
2// Copyright (c) 2026 INRIA
3//
4
5#pragma once
6
7// IWYU pragma: begin_keep
8#include <cstdlib>
9#include <fstream>
10#include <iostream>
11#include <string>
12#include <vector>
13
14#include <Eigen/Core>
15
16#include <casadi/casadi.hpp>
17
18#include "pinocchio/autodiff/casadi.hpp"
19#include "pinocchio/multibody.hpp"
20#include "pinocchio/algorithm/aba-derivatives.hpp"
21#include "pinocchio/algorithm/aba.hpp"
22#include "pinocchio/algorithm/joint-configuration.hpp"
23#include "pinocchio/algorithm/constrained-dynamics-derivatives.hpp"
24#include "pinocchio/algorithm/constrained-dynamics.hpp"
25// IWYU pragma: end_keep
26
27// IWYU pragma: begin_exports
28#include "pinocchio/src/autodiff/casadi/algorithm/algo.hxx"
29// IWYU pragma: end_exports