5 #ifndef __pinocchio_multibody_constraint_hpp__
6 #define __pinocchio_multibody_constraint_hpp__
8 #include "pinocchio/macros.hpp"
13 template<
int _Dim,
typename _Scalar,
int _Options=0>
struct ConstraintTpl;
15 typedef ConstraintTpl<1,double,0> Constraint1d;
16 typedef ConstraintTpl<3,double,0> Constraint3d;
17 typedef ConstraintTpl<6,double,0> Constraint6d;
18 typedef ConstraintTpl<Eigen::Dynamic,double,0> ConstraintXd;
22 #include "pinocchio/multibody/constraint-base.hpp"
23 #include "pinocchio/multibody/constraint-generic.hpp"
25 #endif // ifndef __pinocchio_multibody_constraint_hpp__