pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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joint.hpp
1//
2// Copyright (c) INRIA 2026
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <limits>
8#include <ostream>
9#include <string>
10#include <vector>
11#include <type_traits>
12#include <stdexcept>
13
14#include <Eigen/Core>
15#include <Eigen/Geometry>
16
17#include <boost/type_traits.hpp>
18#include <boost/blank.hpp>
19#include <boost/fusion/include/invoke.hpp>
20#include <boost/fusion/container/generation/make_vector.hpp>
21#include <boost/mpl/assert.hpp>
22#include <boost/mpl/contains.hpp>
23#include <boost/variant.hpp>
24
25#include "pinocchio/context.hpp"
26#include "pinocchio/fwd.hpp"
27#include "pinocchio/macros.hpp"
28#include "pinocchio/eigen-common.hpp"
29
30#include "pinocchio/utils/static-if.hpp"
31
32#include "pinocchio/math.hpp"
33#include "pinocchio/spatial.hpp"
34
35#include "pinocchio/multibody/fwd.hpp"
36#include "pinocchio/src/multibody/joint-motion-subspace-base.hxx"
37#include "pinocchio/src/multibody/joint-motion-subspace-generic.hxx"
38
39#include "pinocchio/serialization/fwd.hpp"
40// IWYU pragma: end_keep
41
42// IWYU pragma: begin_exports
43#include "pinocchio/src/multibody/joint/fwd.hxx"
44#include "pinocchio/src/multibody/joint/joint-model-base.hxx"
45#include "pinocchio/src/multibody/joint/joint-data-base.hxx"
46#include "pinocchio/src/multibody/joint/joint-common-operations.hxx"
47
48#include "pinocchio/src/multibody/visitor/fusion.hxx"
49#include "pinocchio/src/multibody/visitor/joint-unary-visitor.hxx"
50#include "pinocchio/src/multibody/visitor/joint-binary-visitor.hxx"
51
52#include "pinocchio/src/multibody/joint/joint-revolute.hxx"
53#include "pinocchio/src/multibody/joint/joint-revolute-unaligned.hxx"
54#include "pinocchio/src/multibody/joint/joint-revolute-unbounded.hxx"
55#include "pinocchio/src/multibody/joint/joint-revolute-unbounded-unaligned.hxx"
56
57#include "pinocchio/src/multibody/joint/joint-translation.hxx"
58
59#include "pinocchio/src/multibody/joint/joint-prismatic.hxx"
60#include "pinocchio/src/multibody/joint/joint-prismatic-unaligned.hxx"
61
62#include "pinocchio/src/multibody/joint/joint-planar.hxx"
63
64#include "pinocchio/src/multibody/joint/joint-ellipsoid.hxx"
65
66#include "pinocchio/src/multibody/joint/joint-helical.hxx"
67#include "pinocchio/src/multibody/joint/joint-helical-unaligned.hxx"
68
69#include "pinocchio/src/multibody/joint/joint-spherical.hxx"
70#include "pinocchio/src/multibody/joint/joint-spherical-ZYX.hxx"
71
72#include "pinocchio/src/multibody/joint/joint-universal.hxx"
73
74#include "pinocchio/src/multibody/joint/joint-free-flyer.hxx"
75
76#include "pinocchio/src/multibody/joint/joint-basic-visitors.hxx"
77
78#include "pinocchio/src/multibody/joint/joint-composite.hxx"
79
80#include "pinocchio/src/multibody/joint/joint-mimic.hxx"
81
82#include "pinocchio/src/multibody/joint/joint-collection.hxx"
83
84#include "pinocchio/src/multibody/joint/joint-generic.hxx"
85// IWYU pragma: end_exports