pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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graph.hpp
1//
2// Copyright (c) INRIA 2026
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <string>
8#include <vector>
9#include <unordered_map>
10#include <stdexcept>
11#include <utility>
12
13#include <boost/optional.hpp>
14#include <boost/none.hpp>
15#include <boost/variant.hpp>
16#include <boost/graph/adjacency_list.hpp>
17#include <boost/graph/graph_selectors.hpp>
18#include <boost/graph/graph_traits.hpp>
19
20#include <Eigen/Core>
21#include <Eigen/Geometry>
22
23#include "pinocchio/context.hpp"
24#include "pinocchio/macros.hpp"
25
26#include "pinocchio/utils/check.hpp"
27
28#include "pinocchio/spatial.hpp"
29#include "pinocchio/math.hpp"
30#include "pinocchio/multibody.hpp"
31#include "pinocchio/geometry.hpp"
32#include "pinocchio/multibody/joint.hpp"
33
34#include "pinocchio/parsers/config.hpp"
35#include "pinocchio/src/parsers/meshloader-fwd.hxx"
36// IWYU pragma: end_keep
37
38// IWYU pragma: begin_exports
39#include "pinocchio/src/parsers/graph/fwd.hxx"
40#include "pinocchio/src/parsers/graph/frames.hxx"
41#include "pinocchio/src/parsers/graph/joints.hxx"
42#include "pinocchio/src/parsers/graph/geometries.hxx"
43#include "pinocchio/src/parsers/graph/model-graph.hxx"
44#include "pinocchio/src/parsers/graph/graph-visitor.hxx"
45#include "pinocchio/src/parsers/graph/model-graph-algo.hxx"
46#ifdef PINOCCHIO_WITH_COLLISION
47 #include "pinocchio/src/parsers/graph/model-graph-algo-geometry.hxx"
48#endif // ifdef PINOCCHIO_WITH_COLLISION
49#include "pinocchio/src/parsers/graph/model-configuration-converter.hxx"
50// IWYU pragma: end_exports