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typedef Base::ADConfigVectorType | ADConfigVectorType |
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typedef Eigen::aligned_allocator< ADContactData > | ADConstraintDataAllocator |
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typedef Eigen::aligned_allocator< ADContactModel > | ADConstraintModelAllocator |
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typedef pinocchio::RigidConstraintDataTpl< ADScalar, Base::Options > | ADContactData |
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typedef std::vector< ADContactData, ADConstraintDataAllocator > | ADContactDataVector |
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typedef pinocchio::RigidConstraintModelTpl< ADScalar, Base::Options > | ADContactModel |
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typedef std::vector< ADContactModel, ADConstraintModelAllocator > | ADContactModelVector |
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typedef Base::ADData | ADData |
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typedef ADData::MatrixXs | ADMatrixXs |
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typedef Base::ADScalar | ADScalar |
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typedef Base::ADTangentVectorType | ADTangentVectorType |
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typedef CodeGenBase< _Scalar > | Base |
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typedef Eigen::aligned_allocator< ContactData > | ConstraintDataAllocator |
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typedef Eigen::aligned_allocator< ContactModel > | ConstraintModelAllocator |
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typedef pinocchio::RigidConstraintDataTpl< Scalar, Base::Options > | ContactData |
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typedef std::vector< ContactData, ConstraintDataAllocator > | ContactDataVector |
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typedef pinocchio::RigidConstraintModelTpl< Scalar, Base::Options > | ContactModel |
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typedef std::vector< ContactModel, ConstraintModelAllocator > | ContactModelVector |
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typedef Base::MatrixXs | MatrixXs |
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typedef Base::Model | Model |
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typedef Base::Scalar | Scalar |
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typedef Base::VectorXs | VectorXs |
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enum | { Options = 0
} |
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typedef ADModel::ConfigVectorType | ADConfigVectorType |
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typedef pinocchio::DataTpl< ADScalar, Options > | ADData |
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typedef CppAD::ADFun< CGScalar > | ADFun |
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typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options > | ADMatrixXs |
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typedef pinocchio::ModelTpl< ADScalar, Options > | ADModel |
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typedef CppAD::AD< CGScalar > | ADScalar |
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typedef ADModel::TangentVectorType | ADTangentVectorType |
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typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, 1, Options > | ADVectorXs |
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typedef pinocchio::DataTpl< CGScalar, Options > | CGData |
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typedef pinocchio::ModelTpl< CGScalar, Options > | CGModel |
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typedef CppAD::cg::CG< Scalar > | CGScalar |
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typedef Model::ConfigVectorType | ConfigVectorType |
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typedef pinocchio::DataTpl< Scalar, Options > | Data |
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typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > | MatrixXs |
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typedef pinocchio::ModelTpl< Scalar, Options > | Model |
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typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options|Eigen::RowMajor > | RowMatrixXs |
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typedef _Scalar | Scalar |
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typedef Model::TangentVectorType | TangentVectorType |
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typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > | VectorXs |
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| CodeGenConstraintDynamicsDerivatives (const Model &model, const ContactModelVector &contact_models, const std::string &function_name="partial_constraintDynamics", const std::string &library_name="cg_partial_constraintDynamics_eval") |
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void | buildMap () |
| build the mapping Y = f(X)
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Eigen::DenseIndex | constraintDim (const ContactModelVector &contact_models) const |
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template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 > |
void | evalFunction (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &tau) |
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typedef | PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (ADMatrixXs) RowADMatrixXs |
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typedef | PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (MatrixXs) RowMatrixXs |
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| CodeGenBase (const Model &model, const Eigen::DenseIndex dim_input, const Eigen::DenseIndex dim_output, const std::string &function_name, const std::string &library_name) |
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CppAD::cg::ModelCSourceGen< Scalar > & | codeGenerator () |
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void | compileAndLoadLib (const std::string &gcc_path) |
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void | compileLib (const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast") |
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template<typename Vector > |
void | evalFunction (const Eigen::MatrixBase< Vector > &x) |
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template<typename Vector > |
void | evalJacobian (const Eigen::MatrixBase< Vector > &x) |
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bool | existLib () const |
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Eigen::DenseIndex | getInputDimension () const |
| Dimension of the input vector.
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Eigen::DenseIndex | getOutputDimension () const |
| Dimension of the output vector.
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void | initLib () |
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void | loadLib (const bool generate_if_not_exist=true, const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast") |
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template<typename _Scalar>
struct pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >
Definition at line 689 of file code-generator-algo.hpp.