pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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liegroup.hpp
1//
2// Copyright (c) INRIA 2026
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <cmath>
8#include <cassert>
9#include <string>
10#include <vector>
11#include <limits>
12#include <stdexcept>
13#include <sstream>
14
15#include <Eigen/Core>
16#include <Eigen/Geometry>
17
18#include <boost/blank.hpp>
19#include <boost/variant.hpp>
20#include <boost/core/ref.hpp>
21#include <boost/preprocessor.hpp>
22#include <boost/fusion/container/vector.hpp>
23#include <boost/fusion/sequence/intrinsic/at.hpp>
24#include <boost/integer/static_min_max.hpp>
25
26#include "pinocchio/context.hpp"
27#include "pinocchio/fwd.hpp"
28#include "pinocchio/macros.hpp"
29#include "pinocchio/eigen-common.hpp"
30
31#include "pinocchio/utils/check.hpp"
32#include "pinocchio/utils/static-if.hpp"
33
34#include "pinocchio/math.hpp"
35#include "pinocchio/spatial.hpp"
36#include "pinocchio/multibody/joint.hpp"
37// IWYU pragma: end_keep
38
39// IWYU pragma: begin_exports
40#include "pinocchio/src/multibody/liegroup/fwd.hxx"
41
42#include "pinocchio/src/multibody/liegroup/liegroup-base.hxx"
43#include "pinocchio/src/multibody/liegroup/liegroup-algo.hxx"
44
45#include "pinocchio/src/multibody/liegroup/vector-space.hxx"
46#include "pinocchio/src/multibody/liegroup/cartesian-product.hxx"
47#include "pinocchio/src/multibody/liegroup/special-orthogonal.hxx"
48#include "pinocchio/src/multibody/liegroup/special-euclidean.hxx"
49
50#include "pinocchio/src/multibody/liegroup/liegroup-collection.hxx"
51
52#include "pinocchio/src/multibody/liegroup/cartesian-product-variant-fwd.hxx"
53#include "pinocchio/src/multibody/liegroup/liegroup-variant-visitors.hxx"
54#include "pinocchio/src/multibody/liegroup/cartesian-product-variant.hxx"
55
56#include "pinocchio/src/multibody/liegroup/liegroup-generic.hxx"
57#include "pinocchio/src/multibody/liegroup/liegroup-map.hxx"
58#include "pinocchio/src/multibody/liegroup/liegroup-joint.hxx"
59// IWYU pragma: end_exports