pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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multibody.hpp
1//
2// Copyright (c) INRIA 2026
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <algorithm>
8#include <cassert>
9#include <cstddef>
10#include <iterator>
11#include <limits>
12#include <map>
13#include <ostream>
14#include <set>
15#include <sstream>
16#include <string>
17#include <utility>
18#include <vector>
19
20#include <boost/next_prior.hpp>
21#include <boost/variant.hpp>
22
23#include <Eigen/Core>
24#include <Eigen/Geometry>
25#include <Eigen/Cholesky>
26
27#include "pinocchio/context.hpp"
28#include "pinocchio/deprecated.hpp"
29#include "pinocchio/macros.hpp"
30#include "pinocchio/config.hpp"
31
32#include "pinocchio/common.hpp"
33
34#include "pinocchio/container/double-entry-container.hpp"
35#include "pinocchio/container/matrix-stack.hpp"
36
37#include "pinocchio/src/fwd.hxx"
38
39#include "pinocchio/utils/static-if.hpp"
40
41#include "pinocchio/math.hpp"
42#include "pinocchio/spatial.hpp"
43#include "pinocchio/multibody/joint.hpp"
44#include "pinocchio/multibody/liegroup.hpp"
45#include "pinocchio/algorithm/fwd.hpp"
46#include "pinocchio/algorithm/constraint-cholesky-decl.hpp"
47
48#include "pinocchio/serialization/serializable.hpp"
49// IWYU pragma: end_keep
50
51// IWYU pragma: begin_exports
52#include "pinocchio/src/multibody/fwd.hxx"
53#include "pinocchio/src/multibody/force-set.hxx"
54#include "pinocchio/src/multibody/model-item.hxx"
55#include "pinocchio/src/multibody/frame.hxx"
56#include "pinocchio/src/multibody/model.hxx"
57#include "pinocchio/src/multibody/data.hxx"
58// IWYU pragma: end_exports
59
60// IWYU pragma: begin_keep
61#include "pinocchio/algorithm/joint-configuration.hpp"
62// IWYU pragma: end_keep