pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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constraint-solver-utils.hpp
1//
2// Copyright (c) 2026 INRIA
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <cassert>
8#include <cstddef>
9#include <vector>
10
11#include <Eigen/Core>
12
13#include <boost/fusion/container/vector.hpp>
14
15#include "pinocchio/macros.hpp"
16#include "pinocchio/math.hpp"
17
18#include "pinocchio/utils/reference.hpp"
19
20#include "pinocchio/constraints.hpp"
21// IWYU pragma: end_keep
22
23// IWYU pragma: begin_exports
24#include "pinocchio/src/algorithm/solvers/constraint-solver-utils.hxx"
25// IWYU pragma: end_exports