Template Struct CodeGenBase

Defined in File code-generator-base.hpp

Inheritance Relationships

Derived Types

public pinocchio::CodeGenABA< _Scalar > (Template Struct CodeGenABA)
public pinocchio::CodeGenABADerivatives< _Scalar > (Template Struct CodeGenABADerivatives)
public pinocchio::CodeGenCRBA< _Scalar > (Template Struct CodeGenCRBA)
public pinocchio::CodeGenDDifference< _Scalar > (Template Struct CodeGenDDifference)
public pinocchio::CodeGenDifference< _Scalar > (Template Struct CodeGenDifference)
public pinocchio::CodeGenIntegrate< _Scalar > (Template Struct CodeGenIntegrate)
public pinocchio::CodeGenMinv< _Scalar > (Template Struct CodeGenMinv)
public pinocchio::CodeGenRNEA< _Scalar > (Template Struct CodeGenRNEA)
public pinocchio::CodeGenRNEADerivatives< _Scalar > (Template Struct CodeGenRNEADerivatives)

Struct Documentation

template<typename _Scalar> struct CodeGenBase

Subclassed by pinocchio::CodeGenABA< _Scalar >, pinocchio::CodeGenABADerivatives< _Scalar >, pinocchio::CodeGenCRBA< _Scalar >, pinocchio::CodeGenDDifference< _Scalar >, pinocchio::CodeGenDifference< _Scalar >, pinocchio::CodeGenIntegrate< _Scalar >, pinocchio::CodeGenMinv< _Scalar >, pinocchio::CodeGenRNEA< _Scalar >, pinocchio::CodeGenRNEADerivatives< _Scalar >

Public Types

Values:

enumerator Options

typedef _Scalar Scalar

typedef CppAD::cg::CG<Scalar> CGScalar

typedef CppAD::AD<CGScalar> ADScalar

typedef pinocchio::ModelTpl<Scalar, Options> Model

typedef pinocchio::DataTpl<Scalar, Options> Data

typedef pinocchio::ModelTpl<CGScalar, Options> CGModel

typedef pinocchio::DataTpl<CGScalar, Options> CGData

typedef pinocchio::ModelTpl<ADScalar, Options> ADModel

typedef pinocchio::DataTpl<ADScalar, Options> ADData

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options | Eigen::RowMajor> RowMatrixXs

typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, 1, Options> ADVectorXs

typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options> ADMatrixXs

typedef Model::ConfigVectorType ConfigVectorType

typedef Model::TangentVectorType TangentVectorType

typedef ADModel::ConfigVectorType ADConfigVectorType

typedef ADModel::TangentVectorType ADTangentVectorType

typedef CppAD::ADFun<CGScalar> ADFun

Public Functions

inline CodeGenBase(const Model &model, const Eigen::DenseIndex dim_input, const Eigen::DenseIndex dim_output, const std::string &function_name, const std::string &library_name)

virtual void buildMap() = 0: build the mapping Y = f(X)

inline void initLib()

inline CppAD::cg::ModelCSourceGen<Scalar> &codeGenerator()

inline void compileLib(const std::string &gccPath = "/usr/bin/gcc")

inline bool existLib() const

inline void compileAndLoadLib(const std::string &gccPath)

inline void loadLib(const bool generate_if_not_exist = true)

template<typename Vector> inline void evalFunction(const Eigen::MatrixBase<Vector> &x)

template<typename Vector> inline void evalJacobian(const Eigen::MatrixBase<Vector> &x)

inline Eigen::DenseIndex getInputDimension() const: Dimension of the input vector.

inline Eigen::DenseIndex getOutputDimension() const: Dimension of the output vector.

Protected Attributes

ADModel ad_model

ADData ad_data

const std::string function_name: Name of the function.

const std::string library_name: Name of the library.

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.

ADVectorXs ad_X

ADVectorXs ad_Y

ADFun ad_fun

ADConfigVectorType ad_q

ADConfigVectorType ad_q_plus

ADTangentVectorType ad_dq

ADTangentVectorType ad_v

ADTangentVectorType ad_a

VectorXs y

RowMatrixXs jac

std::unique_ptr<CppAD::cg::ModelCSourceGen<Scalar>> cgen_ptr

std::unique_ptr<CppAD::cg::ModelLibraryCSourceGen<Scalar>> libcgen_ptr

std::unique_ptr<CppAD::cg::DynamicModelLibraryProcessor<Scalar>> dynamicLibManager_ptr

std::unique_ptr<CppAD::cg::DynamicLib<Scalar>> dynamicLib_ptr

std::unique_ptr<CppAD::cg::GenericModel<Scalar>> generatedFun_ptr