62 using aligator::context::ConstVectorRef;
64 bp::docstring_options module_docstring_options(
true,
true,
true);
67#ifdef ALIGATOR_MULTITHREADING
69 "Get the number of available threads.");
71 "Get the current number of threads.");
73 (
"num_threads"_a,
"dynamic"_a =
true));
75 eigenpy::enableEigenPy();
77 eigenpy::OptionalConverter<ConstVectorRef, std::optional>::registration();
78 eigenpy::detail::NoneToPython<std::nullopt_t>::registration();
80 bp::import(
"warnings");
81 bp::import(
"proxsuite_nlp");
94 bp::scope dynamics = get_namespace(
"dynamics");
95 exposeContinuousDynamics();
105#ifdef ALIGATOR_WITH_PINOCCHIO
106 exposePinocchioFeatures();
109#ifdef ALIGATOR_WITH_CROCODDYL_COMPAT
111 bp::scope croc_ns = get_namespace(
"croc");
112 exposeCrocoddylCompat();