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pinocchio
3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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pinocchio
3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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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 | |
| CodeGenRNEADerivatives (const Model &model, const std::string &function_name="partial_rnea", const std::string &library_name="cg_partial_rnea_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 > &a) |
| 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 | |
| ADTangentVectorType | ad_a |
| ADData | ad_data |
| ADMatrixXs | ad_dtau_da |
| ADMatrixXs | ad_dtau_dq |
| ADMatrixXs | ad_dtau_dv |
| ADFun | ad_fun |
| ADModel | ad_model |
| ADConfigVectorType | ad_q |
| ADTangentVectorType | ad_v |
| ADVectorXs | ad_X |
| ADVectorXs | ad_Y |
| MatrixXs | dtau_da |
| MatrixXs | dtau_dq |
| MatrixXs | dtau_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 |
Definition at line 451 of file code-generator-algo.hpp.
1.9.1