Inheritance diagram for CodeGenABA< _Scalar >:

Collaboration diagram for CodeGenABA< _Scalar >:

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Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType

typedef Base::ADTangentVectorType	ADTangentVectorType

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
	CodeGenABA (const Model &model, const std::string &function_name="aba", const std::string &library_name="cg_aba_eval")

void	buildMap ()
	build the mapping Y = f(X)

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &tau)

template<typename Vector >
void	evalFunction (const Eigen::MatrixBase< Vector > &x)

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >
void	evalJacobian (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &tau)

template<typename Vector >
void	evalJacobian (const Eigen::MatrixBase< Vector > &x)

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	compileAndLoadLib (const std::string &gcc_path)

void	compileLib (const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast")

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, const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast")

Public Attributes
MatrixXs	da_dq

MatrixXs	da_dtau

MatrixXs	da_dv

Protected Attributes
ADData	ad_data

ADTangentVectorType	ad_dq

ADFun	ad_fun

ADModel	ad_model

ADConfigVectorType	ad_q

ADConfigVectorType	ad_q_plus

ADTangentVectorType	ad_tau

ADTangentVectorType	ad_v

ADVectorXs	ad_X

ADVectorXs	ad_Y

RowMatrixXs	jac

VectorXs	res

VectorXs	x

VectorXs	y

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::CodeGenABA< _Scalar >

Definition at line 142 of file code-generator-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar >

typedef Base::ADConfigVectorType ADConfigVectorType

Definition at line 148 of file code-generator-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar >

typedef Base::ADTangentVectorType ADTangentVectorType

Definition at line 149 of file code-generator-algo.hpp.

◆ Base

template<typename _Scalar >

typedef CodeGenBase<_Scalar> Base

Definition at line 144 of file code-generator-algo.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef Base::MatrixXs MatrixXs

Definition at line 150 of file code-generator-algo.hpp.

◆ Model

template<typename _Scalar >

typedef Base::Model Model

Definition at line 147 of file code-generator-algo.hpp.

◆ Scalar

template<typename _Scalar >

typedef Base::Scalar Scalar

Definition at line 145 of file code-generator-algo.hpp.

◆ VectorXs

template<typename _Scalar >

typedef Base::VectorXs VectorXs

Definition at line 151 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

◆ CodeGenABA()

template<typename _Scalar >

CodeGenABA	(	const Model &	model,
		const std::string &	function_name = `"aba"`,
		const std::string &	library_name = `"cg_aba_eval"`
	)

inline

Definition at line 153 of file code-generator-algo.hpp.

◆ ~CodeGenABA()

template<typename _Scalar >

virtual ~CodeGenABA ( )

inlinevirtual

Definition at line 173 of file code-generator-algo.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar >

void buildMap ( )

inlinevirtual

build the mapping Y = f(X)

Implements CodeGenBase< _Scalar >.

Definition at line 177 of file code-generator-algo.hpp.

◆ evalFunction() [1/2]

template<typename _Scalar >

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >

void evalFunction	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVector1 > &	v,
		const Eigen::MatrixBase< TangentVector2 > &	tau
	)

inline

Definition at line 198 of file code-generator-algo.hpp.

◆ evalFunction() [2/2]

template<typename _Scalar >

template<typename Vector >

void evalFunction ( const Eigen::MatrixBase< Vector > & x )

inline

Definition at line 151 of file code-generator-base.hpp.

◆ evalJacobian() [1/2]

template<typename _Scalar >

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >

void evalJacobian	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVector1 > &	v,
		const Eigen::MatrixBase< TangentVector2 > &	tau
	)