Template Struct CodeGenDifference

Defined in File code-generator-algo.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct CodeGenDifference : 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 CodeGenDifference(const Model &model, const std::string &function_name = "difference", const std::string &library_name = "cg_difference_eval")

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

template<typename ConfigVectorType1, typename ConfigVectorType2, typename TangentVector> inline void evalFunction(const Eigen::MatrixBase<ConfigVectorType1> &q0, const Eigen::MatrixBase<ConfigVectorType2> &q1, const Eigen::MatrixBase<TangentVector> &v)

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

Protected Attributes

VectorXs x

VectorXs res

ADConfigVectorType ad_q0

ADConfigVectorType ad_q1

ADModel ad_model

ADFun ad_fun

ADVectorXs ad_X

ADVectorXs ad_Y

VectorXs y