context.hpp

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#pragma once
 
#include "aligator/context.hpp"
 
#include <pinocchio/fwd.hpp>
 
namespace aligator {
template <typename> struct MultibodyConfiguration;
template <typename> struct MultibodyPhaseSpace;
 
namespace context {
using PinModel = pinocchio::ModelTpl<Scalar, Options>;
using PinData = pinocchio::DataTpl<Scalar, Options>;
 
using RCM = pinocchio::RigidConstraintModelTpl<Scalar, Options>;
using RCD = pinocchio::RigidConstraintDataTpl<Scalar, Options>;
using MultibodyConfiguration = MultibodyConfiguration<Scalar>;
using MultibodyPhaseSpace = MultibodyPhaseSpace<Scalar>;
} // namespace context
} // namespace aligator