fwd.hpp

//
// Copyright (c) 2018-2024 CNRS INRIA
//

#ifndef __pinocchio_fwd_hpp__
#define __pinocchio_fwd_hpp__

// Forward declaration of the main pinocchio namespace
namespace pinocchio
{
}

#ifdef _WIN32
 #include <windows.h>
 #undef far
 #undef near
#endif

#include <cassert>

#include "pinocchio/macros.hpp"
#include "pinocchio/deprecation.hpp"
#include "pinocchio/warning.hpp"
#include "pinocchio/config.hpp"
#include "pinocchio/unsupported.hpp"

#include "pinocchio/utils/helpers.hpp"
#include "pinocchio/utils/cast.hpp"
#include "pinocchio/utils/check.hpp"

#include "pinocchio/container/boost-container-limits.hpp"

#ifdef PINOCCHIO_EIGEN_CHECK_MALLOC
 #ifndef EIGEN_RUNTIME_NO_MALLOC
 #define EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
 #define EIGEN_RUNTIME_NO_MALLOC
 #endif
#endif

#include <Eigen/Core>
#include <Eigen/Sparse>
#include <Eigen/SparseCholesky>

#ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
 #include <Eigen/AccelerateSupport>
#endif

#ifdef PINOCCHIO_EIGEN_CHECK_MALLOC
 #ifdef EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
 #undef EIGEN_RUNTIME_NO_MALLOC
 #undef EIGEN_RUNTIME_NO_MALLOC_WAS_NOT_DEFINED
 #endif
#endif

#include "pinocchio/eigen-macros.hpp"
#ifdef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
 #include <unsupported/Eigen/CXX11/Tensor>
#endif

#include "pinocchio/core/binary-op.hpp"
#include "pinocchio/core/unary-op.hpp"

#include <cstddef> // std::size_t

namespace pinocchio
{
 template<class C>
 struct traits
 {
 };

 struct Blank
 {
 };

 namespace internal
 {
 template<typename T>
 struct traits
 {
 };
 } // namespace internal

 template<class Derived>
 struct NumericalBase
 {
 typedef typename traits<Derived>::Scalar Scalar;
 };

 template<typename NewScalar, class C>
 struct CastType;

 template<typename To, typename From>
 struct ScalarCast
 {
 static To cast(const From & value)
 {
 return static_cast<To>(value);
 }
 };

 template<typename To, typename From>
 To scalar_cast(const From & value)
 {
 return ScalarCast<To, From>::cast(value);
 }

 enum ArgumentPosition
 {
 ARG0 = 0,
 ARG1 = 1,
 ARG2 = 2,
 ARG3 = 3,
 ARG4 = 4
 };

 enum AssignmentOperatorType
 {
 SETTO,
 ADDTO,
 RMTO
 };

 const int Dynamic = -1;

 struct ReturnTypeNotDefined;

 typedef Eigen::Matrix<bool, Eigen::Dynamic, 1> VectorXb;
} // namespace pinocchio

#include "pinocchio/context.hpp"

#endif // #ifndef __pinocchio_fwd_hpp__