Inheritance diagram for CodeGenABADerivatives< _Scalar >:

Collaboration diagram for CodeGenABADerivatives< _Scalar >:

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Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType

typedef Base::ADData	ADData

typedef ADData::MatrixXs	ADMatrixXs

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
	CodeGenABADerivatives (const Model &model, const std::string &function_name="partial_aba", const std::string &library_name="cg_partial_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)

typedef	PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (ADMatrixXs) RowADMatrixXs

typedef	PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (MatrixXs) RowMatrixXs

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")

Protected Attributes
ADData	ad_data

ADMatrixXs	ad_dddq_dq

ADMatrixXs	ad_dddq_dtau

ADMatrixXs	ad_dddq_dv

ADFun	ad_fun

ADModel	ad_model

ADConfigVectorType	ad_q

ADTangentVectorType	ad_tau

ADTangentVectorType	ad_v

ADVectorXs	ad_X

ADVectorXs	ad_Y

MatrixXs	dddq_dq

MatrixXs	dddq_dtau

MatrixXs	dddq_dv

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::CodeGenABADerivatives< _Scalar >

Definition at line 570 of file code-generator-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar >

typedef Base::ADConfigVectorType ADConfigVectorType

Definition at line 576 of file code-generator-algo.hpp.

◆ ADData

template<typename _Scalar >

typedef Base::ADData ADData

Definition at line 582 of file code-generator-algo.hpp.

◆ ADMatrixXs

template<typename _Scalar >

typedef ADData::MatrixXs ADMatrixXs

Definition at line 583 of file code-generator-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar >

typedef Base::ADTangentVectorType ADTangentVectorType

Definition at line 577 of file code-generator-algo.hpp.

◆ Base

template<typename _Scalar >

typedef CodeGenBase<_Scalar> Base

Definition at line 572 of file code-generator-algo.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef Base::MatrixXs MatrixXs

Definition at line 578 of file code-generator-algo.hpp.

◆ Model

template<typename _Scalar >

typedef Base::Model Model

Definition at line 575 of file code-generator-algo.hpp.

◆ Scalar

template<typename _Scalar >

typedef Base::Scalar Scalar

Definition at line 573 of file code-generator-algo.hpp.

◆ VectorXs

template<typename _Scalar >

typedef Base::VectorXs VectorXs

Definition at line 580 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

◆ CodeGenABADerivatives()

template<typename _Scalar >

CodeGenABADerivatives	(	const Model &	model,
		const std::string &	function_name = `"partial_aba"`,
		const std::string &	library_name = `"cg_partial_aba_eval"`
	)

inline

Definition at line 586 of file code-generator-algo.hpp.

◆ ~CodeGenABADerivatives()

template<typename _Scalar >

virtual ~CodeGenABADerivatives ( )

inlinevirtual

Definition at line 612 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 616 of file code-generator-algo.hpp.

◆ evalFunction()

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 646 of file code-generator-algo.hpp.

Member Data Documentation

◆ ad_data

template<typename _Scalar >

ADData ad_data

protected

Definition at line 182 of file code-generator-base.hpp.

◆ ad_dddq_dq

template<typename _Scalar >

ADMatrixXs ad_dddq_dq

protected

Definition at line 681 of file code-generator-algo.hpp.

◆ ad_dddq_dtau

template<typename _Scalar >

ADMatrixXs ad_dddq_dtau

protected

Definition at line 681 of file code-generator-algo.hpp.

◆ ad_dddq_dv

template<typename _Scalar >

ADMatrixXs ad_dddq_dv

protected

Definition at line 681 of file code-generator-algo.hpp.

◆ ad_fun

template<typename _Scalar >

ADFun ad_fun

protected

Definition at line 196 of file code-generator-base.hpp.

◆ ad_model

template<typename _Scalar >

ADModel ad_model

protected

Definition at line 181 of file code-generator-base.hpp.

◆ ad_q

template<typename _Scalar >

ADConfigVectorType ad_q

protected

Definition at line 684 of file code-generator-algo.hpp.

◆ ad_tau

template<typename _Scalar >

ADTangentVectorType ad_tau

protected

Definition at line 685 of file code-generator-algo.hpp.

◆ ad_v

template<typename _Scalar >

ADTangentVectorType ad_v

protected

Definition at line 685 of file code-generator-algo.hpp.

◆ ad_X

template<typename _Scalar >

ADVectorXs ad_X

protected

Definition at line 195 of file code-generator-base.hpp.

◆ ad_Y

template<typename _Scalar >

ADVectorXs ad_Y

protected

Definition at line 195 of file code-generator-base.hpp.

◆ dddq_dq

template<typename _Scalar >

MatrixXs dddq_dq

protected

Definition at line 682 of file code-generator-algo.hpp.

◆ dddq_dtau

template<typename _Scalar >

MatrixXs dddq_dtau

protected

Definition at line 682 of file code-generator-algo.hpp.

◆ dddq_dv

template<typename _Scalar >

MatrixXs dddq_dv

protected

Definition at line 682 of file code-generator-algo.hpp.

◆ x

template<typename _Scalar >

VectorXs x

protected

Definition at line 680 of file code-generator-algo.hpp.

◆ y

template<typename _Scalar >

VectorXs y

protected

Definition at line 201 of file code-generator-base.hpp.

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

include/pinocchio/codegen/code-generator-algo.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ADConfigVectorType

◆ ADData

◆ ADMatrixXs

◆ ADTangentVectorType

◆ Base

◆ MatrixXs

◆ Model

◆ Scalar

◆ VectorXs

Constructor & Destructor Documentation

◆ CodeGenABADerivatives()

◆ ~CodeGenABADerivatives()

Member Function Documentation

◆ buildMap()

◆ evalFunction()

Member Data Documentation

◆ ad_data

◆ ad_dddq_dq

◆ ad_dddq_dtau

◆ ad_dddq_dv

◆ ad_fun

◆ ad_model

◆ ad_q

◆ ad_tau

◆ ad_v

◆ ad_X

◆ ad_Y

◆ dddq_dq

◆ dddq_dtau

◆ dddq_dv

◆ x

◆ y