AutoDiffConstraintDynamics< _Scalar > Struct Template Reference

Inheritance diagram for AutoDiffConstraintDynamics< _Scalar >:

Collaboration diagram for AutoDiffConstraintDynamics< _Scalar >:

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.

---

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

• include/pinocchio/autodiff/casadi-algo.hpp