pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
CodeGenDDifference< _Scalar > Struct Template Reference
Inheritance diagram for CodeGenDDifference< _Scalar >:
Collaboration diagram for CodeGenDDifference< _Scalar >:

Public Types

typedef Base::ADConfigVectorType ADConfigVectorType
 
typedef Base::ADMatrixXs ADMatrixXs
 
typedef Base::ADTangentVectorType ADTangentVectorType
 
typedef Base::ADVectorXs ADVectorXs
 
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

 CodeGenDDifference (const Model &model, const std::string &function_name="dDifference", const std::string &library_name="cg_dDifference_eval")
 
void buildMap ()
 build the mapping Y = f(X)
 
template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename JacobianMatrix >
void evalFunction (const Eigen::MatrixBase< ConfigVectorType1 > &q0, const Eigen::MatrixBase< ConfigVectorType2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
 
- 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 compileLib ()
 
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)
 

Protected Attributes

ADMatrixXs ad_J0
 
ADMatrixXs ad_J1
 
ADConfigVectorType ad_q0
 
ADConfigVectorType ad_q1
 
VectorXs x
 
- 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::CodeGenDDifference< _Scalar >

Definition at line 745 of file code-generator-algo.hpp.


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