compute-all-terms.hpp

//
// Copyright (c) 2015-2021 CNRS INRIA
//

#pragma once

// IWYU pragma: begin_keep
#include <Eigen/Core>

#include <cassert>
#include <type_traits>
#include <vector>

#include <boost/fusion/container/vector.hpp>

#include "pinocchio/macros.hpp"
#include "pinocchio/fwd.hpp"
//
#include "pinocchio/math.hpp"

#include "pinocchio/spatial.hpp"

#include "pinocchio/multibody.hpp"
#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/multibody/visitor.hpp"

#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/algorithm/energy.hpp"
#include "pinocchio/algorithm/check.hpp"
// IWYU pragma: end_keep

namespace pinocchio
{
 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType,
 typename TangentVectorType>
 void computeAllTerms(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q,
 const Eigen::MatrixBase<TangentVectorType> & v);

} // namespace pinocchio

// IWYU pragma: begin_exports
#include "pinocchio/src/algorithm/compute-all-terms.hxx"
// IWYU pragma: end_exports