pinocchio  2.6.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
constraint.hpp
1 //
2 // Copyright (c) 2015-2019 CNRS, INRIA
3 //
4 
5 #ifndef __pinocchio_multibody_constraint_hpp__
6 #define __pinocchio_multibody_constraint_hpp__
7 
8 #include "pinocchio/macros.hpp"
9 
10 namespace pinocchio
11 {
12 
13  template<int _Dim, typename _Scalar, int _Options=0> struct ConstraintTpl;
14 
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;
19 
20 } // namespace pinocchio
21 
22 #include "pinocchio/multibody/constraint-base.hpp"
23 #include "pinocchio/multibody/constraint-generic.hpp"
24 
25 #endif // ifndef __pinocchio_multibody_constraint_hpp__
26 
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24