CodeGenConstraintDynamicsDerivatives< _Scalar > Struct Template Reference

Inheritance diagram for CodeGenConstraintDynamicsDerivatives< _Scalar >:

Collaboration diagram for CodeGenConstraintDynamicsDerivatives< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType
typedef Eigen::aligned_allocator< ADContactData >	ADConstraintDataAllocator
typedef Eigen::aligned_allocator< ADContactModel >	ADConstraintModelAllocator
typedef pinocchio::RigidConstraintDataTpl< ADScalar, Base::Options >	ADContactData
typedef std::vector< ADContactData, ADConstraintDataAllocator >	ADContactDataVector
typedef pinocchio::RigidConstraintModelTpl< ADScalar, Base::Options >	ADContactModel
typedef std::vector< ADContactModel, ADConstraintModelAllocator >	ADContactModelVector
typedef Base::ADData	ADData
typedef ADData::MatrixXs	ADMatrixXs
typedef Base::ADScalar	ADScalar
typedef Base::ADTangentVectorType	ADTangentVectorType
typedef CodeGenBase< _Scalar >	Base
typedef Eigen::aligned_allocator< ContactData >	ConstraintDataAllocator
typedef Eigen::aligned_allocator< ContactModel >	ConstraintModelAllocator
typedef pinocchio::RigidConstraintDataTpl< Scalar, Base::Options >	ContactData
typedef std::vector< ContactData, ConstraintDataAllocator >	ContactDataVector
typedef pinocchio::RigidConstraintModelTpl< Scalar, Base::Options >	ContactModel
typedef std::vector< ContactModel, ConstraintModelAllocator >	ContactModelVector
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
	CodeGenConstraintDynamicsDerivatives (const Model &model, const ContactModelVector &contact_models, const std::string &function_name="partial_constraintDynamics", const std::string &library_name="cg_partial_constraintDynamics_eval")
void	buildMap ()
	build the mapping Y = f(X)
Eigen::DenseIndex	constraintDim (const ContactModelVector &contact_models) const
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
ADContactDataVector	ad_contact_datas
ADContactModelVector	ad_contact_models
ADData	ad_data
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
MatrixXs	dlambda_dq
MatrixXs	dlambda_dtau
MatrixXs	dlambda_dv
Eigen::DenseIndex	nc
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::CodeGenConstraintDynamicsDerivatives< _Scalar >

Definition at line 689 of file code-generator-algo.hpp.

---

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

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