__init__.py

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"""
Copyright (C) 2022 LAAS-CNRS, 2022-2025 INRIA
"""
 
from .pyaligator import *
from .pyaligator import __version__
from . import utils
 
 
def _process():
    import sys
    import inspect
    from . import pyaligator
 
    lib_name = "aligator"
    submodules = inspect.getmembers(pyaligator, inspect.ismodule)
    for mod_info in submodules:
        mod_name = "{}.{}".format(lib_name, mod_info[0])
        sys.modules[mod_name] = mod_info[1]
        mod_info[1].__file__ = pyaligator.__file__
        mod_info[1].__name__ = mod_name
 
 
_process()
 
 
if has_pinocchio_features():  # noqa: F405
    import pinocchio
 
    ALIGATOR_PINOCCHIO_V4 = pinocchio.PINOCCHIO_MAJOR_VERSION >= 4