context.hpp

Go to the documentation of this file.

#pragma once
 
#include "aligator/context.hpp"
 
#include <proxsuite-nlp/modelling/spaces/multibody.hpp>
 
namespace aligator {
namespace context {
using PinModel = pinocchio::ModelTpl<Scalar, Options>;
using PinData = pinocchio::DataTpl<Scalar, Options>;
#ifdef ALIGATOR_PINOCCHIO_V3
using RCM = pinocchio::RigidConstraintModelTpl<Scalar, Options>;
using RCD = pinocchio::RigidConstraintDataTpl<Scalar, Options>;
#endif
using MultibodyConfiguration = proxsuite::nlp::MultibodyConfiguration<Scalar>;
using MultibodyPhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<Scalar>;
} // namespace context
} // namespace aligator