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jorisvjorisv
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cppad: Add constaintDynamics support
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‎include/pinocchio/context/cppad.hpp

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#include <cppad/cppad.hpp>
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#define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS_DERIVATIVES
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#define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
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#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_DYNAMICS
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#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_CHOLESKY
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#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_JACOBIAN

‎include/pinocchio/context/cppadcg.hpp

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#include <cppad/cppad.hpp>
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#define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS_DERIVATIVES
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#define PINOCCHIO_SKIP_ALGORITHM_CONSTRAINED_DYNAMICS
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#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_DYNAMICS
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#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_CHOLESKY
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#define PINOCCHIO_SKIP_ALGORITHM_CONTACT_JACOBIAN

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