Inheritance diagram for AutoDiffConstraintDynamics< _Scalar >:

Collaboration diagram for AutoDiffConstraintDynamics< _Scalar >:

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Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType

typedef pinocchio::RigidConstraintDataTpl< ADScalar, Base::Options >	ADConstraintData

typedef Eigen::aligned_allocator< ADConstraintData >	ADConstraintDataAllocator

typedef std::vector< ADConstraintData, ADConstraintDataAllocator >	ADConstraintDataVector

typedef pinocchio::RigidConstraintModelTpl< ADScalar, Base::Options >	ADConstraintModel

typedef Eigen::aligned_allocator< ADConstraintModel >	ADConstraintModelAllocator

typedef std::vector< ADConstraintModel, ADConstraintModelAllocator >	ADConstraintModelVector

typedef Base::ADFun	ADFun

typedef Base::ADScalar	ADScalar

typedef Base::ADSVector	ADSVector

typedef Base::ADTangentVectorType	ADTangentVectorType

typedef AutoDiffAlgoBase< _Scalar >	Base

typedef pinocchio::RigidConstraintDataTpl< Scalar, Base::Options >	ConstraintData

typedef Eigen::aligned_allocator< ConstraintData >	ConstraintDataAllocator

typedef std::vector< ConstraintData, ConstraintDataAllocator >	ConstraintDataVector

typedef pinocchio::RigidConstraintModelTpl< Scalar, Base::Options >	ConstraintModel

typedef Eigen::aligned_allocator< ConstraintModel >	ConstraintModelAllocator

typedef std::vector< ConstraintModel, ConstraintModelAllocator >	ConstraintModelVector

typedef Base::DMMatrix	DMMatrix

typedef Base::DMVector	DMVector

typedef Base::MatrixXs	MatrixXs

typedef Base::RowMatrixXs	RowMatrixXs

typedef Base::Scalar	Scalar

typedef Base::TangentVectorType	TangentVectorType

typedef Base::VectorXs	VectorXs

Public Types inherited from AutoDiffAlgoBase< _Scalar >
enum	{ Options = 0 }

typedef ADModel::ConfigVectorType	ADConfigVectorType

typedef pinocchio::DataTpl< ADScalar, Options >	ADData

typedef ::casadi::Function	ADFun

typedef pinocchio::ModelTpl< ADScalar, Options >	ADModel

typedef ::casadi::SX	ADScalar

typedef ::casadi::SXVector	ADSVector

typedef ADModel::TangentVectorType	ADTangentVectorType

typedef Model::ConfigVectorType	ConfigVectorType

typedef pinocchio::DataTpl< Scalar, Options >	Data

typedef ::casadi::DM	DMMatrix

typedef ::casadi::DMVector	DMVector

typedef Data::MatrixXs	MatrixXs

typedef pinocchio::ModelTpl< Scalar, Options >	Model

typedef Data::RowMatrixXs	RowMatrixXs

typedef _Scalar	Scalar

typedef Model::TangentVectorType	TangentVectorType

typedef Data::VectorXs	VectorXs

Public Member Functions
	AutoDiffConstraintDynamics (const Model &model, const ConstraintModelVector &contact_models, const std::string &filename="casadi_contactDyn", const std::string &libname="libcasadi_cg_contactDyn", const std::string &fun_name="eval_f")

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

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType1 > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau)

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >
void	evalJacobian (const Eigen::MatrixBase< ConfigVectorType1 > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau)

Public Member Functions inherited from AutoDiffAlgoBase< _Scalar >
	AutoDiffAlgoBase (const Model &model, const std::string &filename, const std::string &libname, const std::string &fun_name)

void	compileLib ()

bool	existLib () const

casadi_int	getFunDerivsOperationCount () const

casadi_int	getFunOperationCount () const

void	initLib ()

void	loadLib (const bool generate_if_not_exist=true)

Static Public Member Functions
static Eigen::DenseIndex	constraintDim (const ConstraintModelVector &contact_models)

Public Attributes
TangentVectorType	ddq

RowMatrixXs	ddq_dq

RowMatrixXs	ddq_dtau

RowMatrixXs	ddq_dv

RowMatrixXs	dlambda_dq

RowMatrixXs	dlambda_dtau

RowMatrixXs	dlambda_dv

VectorXs	lambda_c

Protected Attributes
ADConstraintDataVector	ad_contact_datas

ADConstraintModelVector	ad_contact_models

ADData	ad_data

ADFun	ad_fun

ADFun	ad_fun_derivs

ADModel	ad_model

::casadi::CodeGenerator	cg_generated

ADScalar	cs_ddq

ADScalar	cs_ddq_dq

ADScalar	cs_ddq_dtau

ADScalar	cs_ddq_dv

ADScalar	cs_lambda_c

ADScalar	cs_lambda_dq

ADScalar	cs_lambda_dtau

ADScalar	cs_lambda_dv

ADScalar	cs_q

ADScalar	cs_tau

ADScalar	cs_v

ADScalar	cs_v_int

std::string	filename

ADFun	fun

ADFun	fun_derivs

std::string	fun_name

std::vector< DMMatrix >	fun_output

std::vector< DMMatrix >	fun_output_derivs

std::string	libname

Eigen::DenseIndex	nc

ADConfigVectorType	q_ad

ADConfigVectorType	q_int_ad

std::vector< Scalar >	q_vec

ADTangentVectorType	tau_ad

std::vector< Scalar >	tau_vec

ADTangentVectorType	v_ad

ADTangentVectorType	v_int_ad

std::vector< Scalar >	v_int_vec

std::vector< Scalar >	v_vec

Protected Attributes inherited from AutoDiffAlgoBase< _Scalar >
ADData	ad_data

ADFun	ad_fun

ADFun	ad_fun_derivs

ADModel	ad_model

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.

::casadi::CodeGenerator	cg_generated

std::string	filename

ADFun	fun

ADFun	fun_derivs

casadi_int	fun_derivs_operation_count

std::string	fun_name

casadi_int	fun_operation_count

std::vector< DMMatrix >	fun_output

std::vector< DMMatrix >	fun_output_derivs

std::string	libname

Detailed Description

template<typename _Scalar>
struct pinocchio::casadi::AutoDiffConstraintDynamics< _Scalar >

Definition at line 416 of file casadi-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar >

typedef Base::ADConfigVectorType ADConfigVectorType

Definition at line 431 of file casadi-algo.hpp.

◆ ADConstraintData

template<typename _Scalar >

typedef pinocchio::RigidConstraintDataTpl<ADScalar, Base::Options> ADConstraintData

Definition at line 446 of file casadi-algo.hpp.

◆ ADConstraintDataAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ADConstraintData> ADConstraintDataAllocator

Definition at line 447 of file casadi-algo.hpp.

◆ ADConstraintDataVector

template<typename _Scalar >

typedef std::vector<ADConstraintData, ADConstraintDataAllocator> ADConstraintDataVector

Definition at line 449 of file casadi-algo.hpp.

◆ ADConstraintModel

template<typename _Scalar >

typedef pinocchio::RigidConstraintModelTpl<ADScalar, Base::Options> ADConstraintModel

Definition at line 442 of file casadi-algo.hpp.

◆ ADConstraintModelAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ADConstraintModel> ADConstraintModelAllocator

Definition at line 443 of file casadi-algo.hpp.

◆ ADConstraintModelVector

template<typename _Scalar >

typedef std::vector<ADConstraintModel, ADConstraintModelAllocator> ADConstraintModelVector

Definition at line 445 of file casadi-algo.hpp.

◆ ADFun

template<typename _Scalar >

typedef Base::ADFun ADFun

Definition at line 428 of file casadi-algo.hpp.

◆ ADScalar

template<typename _Scalar >

typedef Base::ADScalar ADScalar

Definition at line 420 of file casadi-algo.hpp.

◆ ADSVector

template<typename _Scalar >

typedef Base::ADSVector ADSVector

Definition at line 421 of file casadi-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar >

typedef Base::ADTangentVectorType ADTangentVectorType

Definition at line 432 of file casadi-algo.hpp.

◆ Base

template<typename _Scalar >

typedef AutoDiffAlgoBase<_Scalar> Base

Definition at line 418 of file casadi-algo.hpp.

◆ ConstraintData

template<typename _Scalar >

typedef pinocchio::RigidConstraintDataTpl<Scalar, Base::Options> ConstraintData

Definition at line 437 of file casadi-algo.hpp.

◆ ConstraintDataAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ConstraintData> ConstraintDataAllocator

Definition at line 438 of file casadi-algo.hpp.

◆ ConstraintDataVector

template<typename _Scalar >

typedef std::vector<ConstraintData, ConstraintDataAllocator> ConstraintDataVector

Definition at line 439 of file casadi-algo.hpp.

◆ ConstraintModel

template<typename _Scalar >

typedef pinocchio::RigidConstraintModelTpl<Scalar, Base::Options> ConstraintModel

Definition at line 434 of file casadi-algo.hpp.

◆ ConstraintModelAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ConstraintModel> ConstraintModelAllocator

Definition at line 435 of file casadi-algo.hpp.

◆ ConstraintModelVector

template<typename _Scalar >

typedef std::vector<ConstraintModel, ConstraintModelAllocator> ConstraintModelVector

Definition at line 436 of file casadi-algo.hpp.

◆ DMMatrix

template<typename _Scalar >

typedef Base::DMMatrix DMMatrix

Definition at line 430 of file casadi-algo.hpp.

◆ DMVector

template<typename _Scalar >

typedef Base::DMVector DMVector

Definition at line 429 of file casadi-algo.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef Base::MatrixXs MatrixXs

Definition at line 426 of file casadi-algo.hpp.

◆ RowMatrixXs

template<typename _Scalar >

typedef Base::RowMatrixXs RowMatrixXs

Definition at line 424 of file casadi-algo.hpp.

◆ Scalar

template<typename _Scalar >

typedef Base::Scalar Scalar

Definition at line 419 of file casadi-algo.hpp.

◆ TangentVectorType

template<typename _Scalar >

typedef Base::TangentVectorType TangentVectorType

Definition at line 423 of file casadi-algo.hpp.

◆ VectorXs

template<typename _Scalar >

typedef Base::VectorXs VectorXs

Definition at line 425 of file casadi-algo.hpp.

Constructor & Destructor Documentation

◆ AutoDiffConstraintDynamics()

template<typename _Scalar >

AutoDiffConstraintDynamics	(	const Model &	model,
		const ConstraintModelVector &	contact_models,
		const std::string &	filename = `"casadi_contactDyn"`,
		const std::string &	libname = `"libcasadi_cg_contactDyn"`,
		const std::string &	fun_name = `"eval_f"`
	)

inlineexplicit

Definition at line 464 of file casadi-algo.hpp.

◆ ~AutoDiffConstraintDynamics()

template<typename _Scalar >

virtual ~AutoDiffConstraintDynamics ( )

inlinevirtual

Definition at line 518 of file casadi-algo.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar >

virtual void buildMap ( )

inlinevirtual

build the mapping Y = f(X)

Implements AutoDiffAlgoBase< _Scalar >.

Definition at line 522 of file casadi-algo.hpp.

◆ constraintDim()

template<typename _Scalar >

static Eigen::DenseIndex constraintDim ( const ConstraintModelVector & contact_models )

inlinestatic

Definition at line 451 of file casadi-algo.hpp.

◆ evalFunction()

template<typename _Scalar >

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >

void evalFunction	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	tau
	)

inline

Definition at line 550 of file casadi-algo.hpp.

◆ evalJacobian()

template<typename _Scalar >

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >

void evalJacobian	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	tau
	)