loop-constrained-aba.hpp

//
// Copyright (c) 2024-2025 INRIA
//

#pragma once

// IWYU pragma: begin_keep
#include <cassert>
#include <vector>
#include <cstddef>
#include <type_traits>
#include <utility>

#include <Eigen/Core>

#include <boost/fusion/container/vector/vector.hpp>

#include "pinocchio/utils/alloca.hpp"
#include "pinocchio/utils/check.hpp"

#include "pinocchio/macros.hpp"

#include "pinocchio/math.hpp"
#include "pinocchio/spatial.hpp"

#include "pinocchio/multibody.hpp"
#include "pinocchio/multibody/joint.hpp"

#include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/proximal.hpp"
#include "pinocchio/constraints.hpp"
// IWYU pragma: end_keep

namespace pinocchio
{

 template<
 typename Scalar,
 int Options,
 template<typename, int> class JointCollectionTpl,
 typename ConfigVectorType,
 typename TangentVectorType1,
 typename TangentVectorType2,
 class ConstraintModel,
 class ConstraintModelAllocator,
 class ConstraintData,
 class ConstraintDataAllocator>
 PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
 inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & lcaba(
 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
 DataTpl<Scalar, Options, JointCollectionTpl> & data,
 const Eigen::MatrixBase<ConfigVectorType> & q,
 const Eigen::MatrixBase<TangentVectorType1> & v,
 const Eigen::MatrixBase<TangentVectorType2> & tau,
 const std::vector<ConstraintModel, ConstraintModelAllocator> & constraint_models,
 std::vector<ConstraintData, ConstraintDataAllocator> & constraint_datas,
 ProximalSettingsTpl<Scalar> & settings);

} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
// IWYU pragma: begin_exports
#include "pinocchio/src/algorithm/loop-constrained-aba.hxx"
// IWYU pragma: end_exports