Template Struct CodeGenCRBA

Defined in File code-generator-algo.hpp

Inheritance Relationships

Base Type

public pinocchio::CodeGenBase< _Scalar > (Template Struct CodeGenBase)

Struct Documentation

template<typename _Scalar> struct CodeGenCRBA : public pinocchio::CodeGenBase<_Scalar>

Public Types

typedef CodeGenBase<_Scalar> Base

typedef Base::Scalar Scalar

typedef Base::Model Model

typedef Base::ADConfigVectorType ADConfigVectorType

typedef Base::ADTangentVectorType ADTangentVectorType

typedef Base::MatrixXs MatrixXs

typedef Base::VectorXs VectorXs

Public Functions

inline CodeGenCRBA(const Model &model, const std::string &function_name = "crba", const std::string &library_name = "cg_crba_eval")

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

template<typename ConfigVectorType> inline void evalFunction(const Eigen::MatrixBase<ConfigVectorType> &q)

Public Members

MatrixXs M

Protected Attributes

VectorXs x

VectorXs res

ADConfigVectorType ad_q

ADModel ad_model

ADData ad_data

ADFun ad_fun

ADVectorXs ad_X

ADVectorXs ad_Y

VectorXs y