pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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spatial.hpp
1//
2// Copyright (c) INRIA 2026
3//
4
5// IWYU pragma: begin_keep
6#include <Eigen/Core>
7#include <Eigen/Geometry>
8
9#include "pinocchio/fwd.hpp"
10#include "pinocchio/eigen-common.hpp"
11#include "pinocchio/context.hpp"
12// TODO This is done for pinocchio 3 back compatibility
13#include <pinocchio/config.hpp>
14
15#include "pinocchio/utils/cast.hpp"
16#include "pinocchio/utils/static-if.hpp"
17#include "pinocchio/utils/check.hpp"
18
19#include "pinocchio/math.hpp"
20// IWYU pragma: end_keep
21
22// IWYU pragma: begin_exports
23#include "pinocchio/src/spatial/fwd.hxx"
24
25#include "pinocchio/src/spatial/cartesian-axis.hxx"
26#include "pinocchio/src/spatial/skew.hxx"
27#include "pinocchio/src/spatial/symmetric3.hxx"
28
29#include "pinocchio/src/spatial/se3-common.hxx"
30#include "pinocchio/src/spatial/se3-base.hxx"
31#include "pinocchio/src/spatial/se3-tpl.hxx"
32
33#include "pinocchio/src/spatial/motion-common.hxx"
34#include "pinocchio/src/spatial/motion-base.hxx"
35#include "pinocchio/src/spatial/motion-dense.hxx"
36#include "pinocchio/src/spatial/motion-tpl.hxx"
37#include "pinocchio/src/spatial/motion-ref.hxx"
38#include "pinocchio/src/spatial/motion-zero.hxx"
39
40#include "pinocchio/src/spatial/spatial-axis.hxx"
41
42#include "pinocchio/src/spatial/force-common.hxx"
43#include "pinocchio/src/spatial/force-base.hxx"
44#include "pinocchio/src/spatial/force-dense.hxx"
45#include "pinocchio/src/spatial/force-tpl.hxx"
46#include "pinocchio/src/spatial/force-ref.hxx"
47
48#include "pinocchio/src/spatial/inertia.hxx"
49
50#include "pinocchio/src/spatial/log-common.hxx"
51#include "pinocchio/src/spatial/explog.hxx"
52#include "pinocchio/src/spatial/explog-quaternion.hxx"
53#include "pinocchio/src/spatial/log.hxx"
54#include "pinocchio/src/spatial/se3-tpl-interpolate.hxx"
55
56#include "pinocchio/src/spatial/classic-acceleration.hxx"
57
58#include "pinocchio/src/spatial/act-on-set.hxx"
59
60// IWYU pragma: end_exports