cppadcg.hpp

//
// Copyright (c) 2022 INRIA
//

#ifndef __pinocchio_context_cppadcg_hpp__
#define __pinocchio_context_cppadcg_hpp__

#include <cppad/cg/support/cppadcg_eigen.hpp>
#include <cppad/cppad.hpp>

#define PINOCCHIO_SKIP_ALGORITHM_MODEL
#define PINOCCHIO_SKIP_ALGORITHM_GEOMETRY
#define PINOCCHIO_SKIP_MULTIBODY_SAMPLE_MODELS

namespace pinocchio
{
 // forward declarations which are necessary to include pinocchio/autodiff/cppadcg.hpp
 template<typename _Scalar, int _Options>
 struct MotionZeroTpl;
 template<typename _Scalar, int _Options>
 class ForceTpl;
 template<typename _Scalar, int _Options>
 class MotionTpl;
 template<typename _Scalar, int _Options>
 struct SE3Tpl;

 template<typename Derived>
 class ForceBase;
 template<typename Derived>
 class ForceDense;
 template<typename Derived>
 class MotionDense;
 template<typename Vector6>
 class MotionRef;

 typedef MotionTpl<::CppAD::AD<CppAD::cg::CG<double>>, 0> Motion;

 namespace internal
 {
 template<typename Class, typename NewScalar, typename Scalar>
 struct cast_call_normalize_method;
 template<typename Type, typename Scalar>
 struct RHSScalarMultiplication;
 template<typename Type, typename Scalar>
 struct LHSScalarMultiplication;
 } // namespace internal

} // namespace pinocchio

#include "pinocchio/codegen/cppadcg.hpp"
#define PINOCCHIO_SCALAR_TYPE ::CppAD::AD<CppAD::cg::CG<double>>
#include "pinocchio/context/generic.hpp"

#undef PINOCCHIO_SCALAR_TYPE
#endif // #ifndef __pinocchio_context_cppadcg_hpp__