dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/optimizer/nlopt/nlopt.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/optimizer/nlopt/all.hpp> instead of <dart/optimizer/nlopt/nlopt.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/optimizer/nlopt/nlopt.hpp is deprecated. Use dart/optimizer/nlopt/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/optimizer/nlopt/nlopt.hpp is deprecated. Use dart/optimizer/nlopt/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/optimizer/nlopt/all.hpp"

include/dart/optimizer/optimizer.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/optimizer/all.hpp> instead of <dart/optimizer/optimizer.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/optimizer/optimizer.hpp is deprecated. Use dart/optimizer/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/optimizer/optimizer.hpp is deprecated. Use dart/optimizer/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/optimizer/all.hpp"

include/dart/simulation/Recording.hpp

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_SIMULATION_RECORDING_HPP_
+#define DART_SIMULATION_RECORDING_HPP_
+
+#include <dart/dynamics/Skeleton.hpp>
+
+#include <Eigen/Dense>
+
+#include <vector>
+
+namespace dart {
+
+namespace dynamics {
+class Skeleton;
+} // namespace dynamics
+
+namespace simulation {
+
+/// \brief class Recording
+class Recording
+{
+public:
+  /// \brief Create Recording with a list of skeletons
+  explicit Recording(const std::vector<dynamics::SkeletonPtr>& _skeletons);
+
+  /// \brief Create Recording with a list of number of dofs
+  explicit Recording(const std::vector<int>& _skelDofs);
+
+  /// \brief Destructor
+  virtual ~Recording();
+
+  /// \brief Get number of frames
+  int getNumFrames() const;
+
+  /// \brief Get number of skeletons
+  int getNumSkeletons() const;
+
+  /// \brief Get number of generalized coordinates of skeleton whoes index is
+  /// _skelIdx
+  int getNumDofs(int _skelIdx) const;
+
+  /// \brief Get number of contacts at frame number _frameIdx
+  int getNumContacts(int _frameIdx) const;
+
+  /// \brief Get skeleton configurations whose index is _skelIdx at frame number
+  /// _frameIdx
+  Eigen::VectorXd getConfig(int _frameIdx, int _skelIdx) const;
+
+  /// \brief Get _dofIdx-th single configruation of a skeleton whose index is
+  /// _skelIdx at frame number _frameIdx
+  double getGenCoord(int _frameIdx, int _skelIdx, int _dofIdx) const;
+
+  /// \brief Get contact point whose index is _contactIdx at frame number
+  /// _frameIdx
+  Eigen::Vector3d getContactPoint(int _frameIdx, int _contactIdx) const;
+
+  /// \brief Get contact force whose index is _contactIdx at frame number
+  /// _frameIdx
+  Eigen::Vector3d getContactForce(int _frameIdx, int _contactIdx) const;
+
+  /// \brief Clear the saved histories
+  void clear();
+
+  /// \brief Add state
+  void addState(const Eigen::VectorXd& _state);
+
+  /// \brief Update list for number of generalized coordinates
+  void updateNumGenCoords(const std::vector<dynamics::SkeletonPtr>& _skeletons);
+
+private:
+  /// \brief Baked states
+  std::vector<Eigen::VectorXd> mBakedStates;
+
+  /// \brief Number of generalized coordinates for skeletons
+  std::vector<int> mNumGenCoordsForSkeletons;
+};
+
+} // namespace simulation
+} // namespace dart
+
+#endif // DART_SIMULATION_RECORDING_HPP_

include/dart/simulation/SmartPointer.hpp

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES) LOSS OF
+ *   USE, DATA, OR PROFITS) OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_SIMULATION_SMARTPOINTER_HPP_
+#define DART_SIMULATION_SMARTPOINTER_HPP_
+
+#include <dart/common/SmartPointer.hpp>
+
+namespace dart {
+namespace simulation {
+
+DART_COMMON_DECLARE_SHARED_WEAK(World)
+
+} // namespace simulation
+} // namespace dart
+
+#endif // DART_SIMULATION_SMARTPOINTER_HPP_

include/dart/simulation/World.hpp

@@ -0,0 +1,405 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_SIMULATION_WORLD_HPP_
+#define DART_SIMULATION_WORLD_HPP_
+
+#include <dart/simulation/Recording.hpp>
+#include <dart/simulation/SmartPointer.hpp>
+
+#include <dart/constraint/SmartPointer.hpp>
+
+#include <dart/collision/CollisionOption.hpp>
+
+#include <dart/dynamics/SimpleFrame.hpp>
+#include <dart/dynamics/Skeleton.hpp>
+
+#include <dart/common/NameManager.hpp>
+#include <dart/common/SmartPointer.hpp>
+#include <dart/common/Subject.hpp>
+
+#include <Eigen/Dense>
+
+#include <set>
+#include <string>
+#include <vector>
+
+namespace dart {
+
+namespace integration {
+class Integrator;
+} // namespace integration
+
+namespace dynamics {
+class Skeleton;
+} // namespace dynamics
+
+namespace constraint {
+class ConstraintSolver;
+} // namespace constraint
+
+namespace collision {
+class CollisionResult;
+} // namespace collision
+
+namespace simulation {
+
+DART_COMMON_DECLARE_SHARED_WEAK(World)
+
+/// class World
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class World : public virtual common::Subject
+{
+public:
+  using NameChangedSignal = common::Signal<void(
+      const std::string& _oldName, const std::string& _newName)>;
+
+  /// Creates World as shared_ptr
+  template <typename... Args>
+  static WorldPtr create(Args&&... args);
+
+  //--------------------------------------------------------------------------
+  // Constructor and Destructor
+  //--------------------------------------------------------------------------
+
+  /// Creates a World
+  static std::shared_ptr<World> create(const std::string& name = "world");
+
+  /// Constructor
+  World(const std::string& _name = "world");
+
+  /// Destructor
+  virtual ~World();
+
+  /// Create a clone of this World. All Skeletons and SimpleFrames that are held
+  /// by this World will be copied over.
+  std::shared_ptr<World> clone() const;
+
+  //--------------------------------------------------------------------------
+  // Properties
+  //--------------------------------------------------------------------------
+
+  /// Set the name of this World
+  const std::string& setName(const std::string& _newName);
+
+  /// Get the name of this World
+  const std::string& getName() const;
+
+  /// Set gravity
+  void setGravity(const Eigen::Vector3d& _gravity);
+
+  /// Set gravity
+  void setGravity(double x, double y, double z);
+
+  /// Get gravity
+  const Eigen::Vector3d& getGravity() const;
+
+  /// Set time step
+  void setTimeStep(double _timeStep);
+
+  /// Get time step
+  double getTimeStep() const;
+
+  //--------------------------------------------------------------------------
+  // Structural Properties
+  //--------------------------------------------------------------------------
+
+  /// Get the indexed skeleton
+  dynamics::SkeletonPtr getSkeleton(std::size_t _index) const;
+
+  /// Find a Skeleton by name
+  /// \param[in] _name The name of the Skeleton you are looking for.
+  /// \return If the skeleton does not exist then return nullptr.
+  dynamics::SkeletonPtr getSkeleton(const std::string& _name) const;
+
+  /// Get the number of skeletons
+  std::size_t getNumSkeletons() const;
+
+  /// Add a skeleton to this world
+  std::string addSkeleton(const dynamics::SkeletonPtr& _skeleton);
+
+  /// Remove a skeleton from this world
+  void removeSkeleton(const dynamics::SkeletonPtr& _skeleton);
+
+  /// Remove all the skeletons in this world, and return a set of shared
+  /// pointers to them, in case you want to recycle them
+  std::set<dynamics::SkeletonPtr> removeAllSkeletons();
+
+  /// Returns whether this World contains a Skeleton.
+  bool hasSkeleton(const dynamics::ConstSkeletonPtr& skeleton) const;
+
+  /// Returns whether this World contains a Skeleton named \c skeletonName.
+  bool hasSkeleton(const std::string& skeletonName) const;
+
+  /// Get the dof index for the indexed skeleton
+  int getIndex(int _index) const;
+
+  /// Get the indexed Entity
+  dynamics::SimpleFramePtr getSimpleFrame(std::size_t _index) const;
+
+  /// Find an Entity by name
+  dynamics::SimpleFramePtr getSimpleFrame(const std::string& _name) const;
+
+  /// Get the number of Entities
+  std::size_t getNumSimpleFrames() const;
+
+  /// Add an Entity to this world
+  std::string addSimpleFrame(const dynamics::SimpleFramePtr& _frame);
+
+  /// Remove a SimpleFrame from this world
+  void removeSimpleFrame(const dynamics::SimpleFramePtr& _frame);
+
+  /// Remove all SimpleFrames in this world, and return a set of shared
+  /// pointers to them, in case you want to recycle them
+  std::set<dynamics::SimpleFramePtr> removeAllSimpleFrames();
+
+  //--------------------------------------------------------------------------
+  // Collision checking
+  //--------------------------------------------------------------------------
+
+  /// Deprecated. Please use checkCollision(~) instead.
+  DART_DEPRECATED(6.0)
+  bool checkCollision(bool checkAllCollisions);
+
+  /// Perform collision checking with 'option' over all the feasible collision
+  /// pairs in this World, and the result will be stored 'result'. If no
+  /// argument is passed in then it will return just whether there is collision
+  /// or not without the contact information such as contact point, normal, and
+  /// penetration depth.
+  bool checkCollision(
+      const collision::CollisionOption& option
+      = collision::CollisionOption(false, 1u, nullptr),
+      collision::CollisionResult* result = nullptr);
+
+  /// Return the collision checking result of the last simulation step. If this
+  /// world hasn't stepped forward yet, then the result would be empty. Note
+  /// that this function does not return the collision checking result of
+  /// World::checkCollision().
+  const collision::CollisionResult& getLastCollisionResult() const;
+
+  //--------------------------------------------------------------------------
+  // Simulation
+  //--------------------------------------------------------------------------
+
+  /// Reset the time, frame counter and recorded histories
+  void reset();
+
+  /// Calculate the dynamics and integrate the world for one step
+  /// \param[in] _resetCommand True if you want to reset to zero the joint
+  /// command after simulation step.
+  void step(bool _resetCommand = true);
+
+  /// Set current time
+  void setTime(double _time);
+
+  /// Get current time
+  double getTime() const;
+
+  /// Get the number of simulated frames
+  ///
+  /// TODO(MXG): I think the name of this function is much too similar to
+  /// getSimpleFrame()
+  int getSimFrames() const;
+
+  //--------------------------------------------------------------------------
+  // Constraint
+  //--------------------------------------------------------------------------
+
+  /// Sets the constraint solver
+  ///
+  /// Note that the internal properties of \c solver will be overwritten by this
+  /// World.
+  void setConstraintSolver(constraint::UniqueConstraintSolverPtr solver);
+
+  /// Get the constraint solver
+  constraint::ConstraintSolver* getConstraintSolver();
+
+  /// Get the constraint solver
+  const constraint::ConstraintSolver* getConstraintSolver() const;
+
+  /// Bake simulated current state and store it into mRecording
+  void bake();
+
+  /// Get recording
+  Recording* getRecording();
+
+  /// \{ \name Iterations
+
+  /// Iterates all the Skeletons and invokes the callback function.
+  ///
+  /// Example:
+  /// \code{.cpp}
+  /// bodyNode->eachSkeleton([](const Skeleton* skel) {
+  ///   // ...
+  /// });
+  ///
+  /// bodyNode->eachSkeleton([](const Skeleton* skel) -> bool {
+  ///   if (!skel->getName() == "name")
+  ///   {
+  ///     // to stop iterating when found a ShapeNode with no VisualAspect
+  ///     return false;
+  ///   }
+  ///   return true;
+  /// });
+  /// \endcode
+  ///
+  /// \tparam Func: The callback function type. The function signature should be
+  /// equivalent to \c void(const Skeleton*) or \c bool(const Skeleton*). If
+  /// you want to conditionally iterate, use \c bool(const Skeleton*) and
+  /// return false when to stop iterating.
+  ///
+  /// \param[in] func: The callback function to be called for each Skeleton.
+  template <typename Func>
+  void eachSkeleton(Func func) const;
+
+  /// Iterates all the Skeletons and invokes the callback function.
+  ///
+  /// \tparam Func: The callback function type. The function signature should be
+  /// equivalent to \c void(Skeleton*) or \c bool(Skeleton*). If
+  /// you want to conditionally iterate, use \c bool(Skeleton*) and
+  /// return false when to stop iterating.
+  ///
+  /// \param[in] func: The callback function to be called for each Skeleton.
+  template <typename Func>
+  void eachSkeleton(Func func);
+
+  /// Iterates all the SimpleFrames and invokes the callback function.
+  ///
+  /// \tparam Func: The callback function type. The function signature should be
+  /// equivalent to \c void(const SimpleFrame*) or \c bool(const SimpleFrame*).
+  /// If you want to conditionally iterate, use \c bool(const SimpleFrame*) and
+  /// return false when to stop iterating.
+  ///
+  /// \param[in] func: The callback function to be called for each SimpleFrame.
+  template <typename Func>
+  void eachSimpleFrame(Func func) const;
+
+  /// Iterates all the SimpleFrames and invokes the callback function.
+  ///
+  /// \tparam Func: The callback function type. The function signature should be
+  /// equivalent to \c void(SimpleFrame*) or \c bool(SimpleFrame*). If
+  /// you want to conditionally iterate, use \c bool(SimpleFrame*) and
+  /// return false when to stop iterating.
+  ///
+  /// \param[in] func: The callback function to be called for each SimpleFrame.
+  template <typename Func>
+  void eachSimpleFrame(Func func);
+
+  /// \}
+
+protected:
+  /// Register when a Skeleton's name is changed
+  void handleSkeletonNameChange(
+      const dynamics::ConstMetaSkeletonPtr& _skeleton);
+
+  /// Register when a SimpleFrame's name is changed
+  void handleSimpleFrameNameChange(const dynamics::Entity* _entity);
+
+  /// Name of this World
+  std::string mName;
+
+  /// Skeletons in this world
+  std::vector<dynamics::SkeletonPtr> mSkeletons;
+
+  std::map<dynamics::ConstMetaSkeletonPtr, dynamics::SkeletonPtr>
+      mMapForSkeletons;
+
+  /// Connections for noticing changes in Skeleton names
+  /// TODO(MXG): Consider putting this functionality into NameManager
+  std::vector<common::Connection> mNameConnectionsForSkeletons;
+
+  /// NameManager for keeping track of Skeletons
+  dart::common::NameManager<dynamics::SkeletonPtr> mNameMgrForSkeletons;
+
+  /// Entities in this world
+  std::vector<dynamics::SimpleFramePtr> mSimpleFrames;
+
+  /// Connections for noticing changes in Frame names
+  /// TODO(MXG): Consider putting this functionality into NameManager
+  std::vector<common::Connection> mNameConnectionsForSimpleFrames;
+
+  /// Map from raw SimpleFrame pointers to their shared_ptrs
+  std::map<const dynamics::SimpleFrame*, dynamics::SimpleFramePtr>
+      mSimpleFrameToShared;
+
+  /// NameManager for keeping track of Entities
+  dart::common::NameManager<dynamics::SimpleFramePtr> mNameMgrForSimpleFrames;
+
+  /// The first indeices of each skeleton's dof in mDofs
+  ///
+  /// For example, if this world has three skeletons and their dof are
+  /// 6, 1 and 2 then the mIndices goes like this: [0 6 7].
+  std::vector<int> mIndices;
+
+  /// Gravity
+  Eigen::Vector3d mGravity;
+
+  /// Simulation time step
+  double mTimeStep;
+
+  /// Current simulation time
+  double mTime;
+
+  /// Current simulation frame number
+  int mFrame;
+
+  /// Constraint solver
+  std::unique_ptr<constraint::ConstraintSolver> mConstraintSolver;
+
+  ///
+  Recording* mRecording;
+
+  //--------------------------------------------------------------------------
+  // Signals
+  //--------------------------------------------------------------------------
+  NameChangedSignal mNameChangedSignal;
+
+public:
+  //--------------------------------------------------------------------------
+  // Slot registers
+  //--------------------------------------------------------------------------
+  common::SlotRegister<NameChangedSignal> onNameChanged;
+};
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+
+} // namespace simulation
+} // namespace dart
+
+#include <dart/simulation/detail/World-impl.hpp>
+
+#endif // DART_SIMULATION_WORLD_HPP_

include/dart/simulation/all.hpp

@@ -0,0 +1,5 @@
+// Automatically generated file by cmake
+
+#include "dart/simulation/Recording.hpp"
+#include "dart/simulation/SmartPointer.hpp"
+#include "dart/simulation/World.hpp"