CodeGenDDifference< _Scalar > Struct Template Reference

Inheritance diagram for CodeGenDDifference< _Scalar >:

Collaboration diagram for CodeGenDDifference< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType
typedef Base::ADMatrixXs	ADMatrixXs
typedef Base::ADTangentVectorType	ADTangentVectorType
typedef Base::ADVectorXs	ADVectorXs
typedef CodeGenBase< _Scalar >	Base
typedef Base::MatrixXs	MatrixXs
typedef Base::Model	Model
typedef Base::Scalar	Scalar
typedef Base::VectorXs	VectorXs
Public Types inherited from CodeGenBase< _Scalar >
enum	{ Options = 0 }
typedef ADModel::ConfigVectorType	ADConfigVectorType
typedef pinocchio::DataTpl< ADScalar, Options >	ADData
typedef CppAD::ADFun< CGScalar >	ADFun
typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options >	ADMatrixXs
typedef pinocchio::ModelTpl< ADScalar, Options >	ADModel
typedef CppAD::AD< CGScalar >	ADScalar
typedef ADModel::TangentVectorType	ADTangentVectorType
typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, 1, Options >	ADVectorXs
typedef pinocchio::DataTpl< CGScalar, Options >	CGData
typedef pinocchio::ModelTpl< CGScalar, Options >	CGModel
typedef CppAD::cg::CG< Scalar >	CGScalar
typedef Model::ConfigVectorType	ConfigVectorType
typedef pinocchio::DataTpl< Scalar, Options >	Data
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXs
typedef pinocchio::ModelTpl< Scalar, Options >	Model
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options|Eigen::RowMajor >	RowMatrixXs
typedef _Scalar	Scalar
typedef Model::TangentVectorType	TangentVectorType
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs

Public Member Functions
	CodeGenDDifference (const Model &model, const std::string &function_name="dDifference", const std::string &library_name="cg_dDifference_eval")
void	buildMap ()
	build the mapping Y = f(X)
template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename JacobianMatrix >
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType1 > &q0, const Eigen::MatrixBase< ConfigVectorType2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
Public Member Functions inherited from CodeGenBase< _Scalar >
	CodeGenBase (const Model &model, const Eigen::DenseIndex dim_input, const Eigen::DenseIndex dim_output, const std::string &function_name, const std::string &library_name)
CppAD::cg::ModelCSourceGen< Scalar > &	codeGenerator ()
void	compileLib ()
template<typename Vector >
void	evalFunction (const Eigen::MatrixBase< Vector > &x)
template<typename Vector >
void	evalJacobian (const Eigen::MatrixBase< Vector > &x)
bool	existLib () const
Eigen::DenseIndex	getInputDimension () const
	Dimension of the input vector.
Eigen::DenseIndex	getOutputDimension () const
	Dimension of the output vector.
void	initLib ()
void	loadLib (const bool generate_if_not_exist=true)

Protected Attributes
ADMatrixXs	ad_J0
ADMatrixXs	ad_J1
ADConfigVectorType	ad_q0
ADConfigVectorType	ad_q1
VectorXs	x
Protected Attributes inherited from CodeGenBase< _Scalar >
ADTangentVectorType	ad_a
ADData	ad_data
ADTangentVectorType	ad_dq
ADFun	ad_fun
ADModel	ad_model
ADConfigVectorType	ad_q
ADConfigVectorType	ad_q_plus
ADTangentVectorType	ad_v
ADVectorXs	ad_X
ADVectorXs	ad_Y
bool	build_forward
	Options to generate or not the source code for the evaluation function.
bool	build_jacobian
	Options to build or not the Jacobian of he function.
std::unique_ptr< CppAD::cg::ModelCSourceGen< Scalar > >	cgen_ptr
std::unique_ptr< CppAD::cg::DynamicLib< Scalar > >	dynamicLib_ptr
std::unique_ptr< CppAD::cg::DynamicModelLibraryProcessor< Scalar > >	dynamicLibManager_ptr
const std::string	function_name
	Name of the function.
std::unique_ptr< CppAD::cg::GenericModel< Scalar > >	generatedFun_ptr
RowMatrixXs	jac
std::unique_ptr< CppAD::cg::ModelLibraryCSourceGen< Scalar > >	libcgen_ptr
const std::string	library_name
	Name of the library.
VectorXs	y

Detailed Description

template<typename _Scalar>
struct pinocchio::CodeGenDDifference< _Scalar >

Definition at line 745 of file code-generator-algo.hpp.

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The documentation for this struct was generated from the following file:

• src/codegen/code-generator-algo.hpp