pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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cppadcg-algo.hpp
1//
2// Copyright (c) 2026 INRIA
3//
4
5#pragma once
6
7// IWYU pragma: begin_keep
8#include <cassert>
9#include <cstddef>
10#include <fstream>
11#include <memory>
12#include <string>
13#include <vector>
14
15#include <Eigen/Core>
16
17#include <cppad/cg.hpp>
18#include <cppad/cppad.hpp>
19
20#include "pinocchio/eigen-common.hpp"
21
22#include "pinocchio/codegen/cppadcg.hpp"
23
24#include "pinocchio/multibody.hpp"
25
26#include "pinocchio/algorithm/joint-configuration.hpp"
27#include "pinocchio/algorithm/crba.hpp"
28#include "pinocchio/algorithm/rnea.hpp"
29#include "pinocchio/algorithm/aba.hpp"
30#include "pinocchio/algorithm/rnea-derivatives.hpp"
31#include "pinocchio/algorithm/aba-derivatives.hpp"
32#include "pinocchio/algorithm/constrained-dynamics-derivatives.hpp"
33#include "pinocchio/algorithm/constrained-dynamics.hpp"
34// IWYU pragma: end_keep
35
36// IWYU pragma: begin_exports
37#include "pinocchio/src/codegen/cppadcg/algorithm/code-generator-base.hxx"
38#include "pinocchio/src/codegen/cppadcg/algorithm/code-generator-algo.hxx"
39// IWYU pragma: end_exports