Variables
	code = handler.generateCode(langC, jac, nameGen, "source")

	data = model.createData()

	fun = ADCGFun(x, y)

	handler = CodeHandler(50)

	indVars = np.array([CG(1.0)] * (nq + nv + nv))

	jac = fun.Jacobian(indVars)

	langC = LanguageC("double", 3)

	model = cgpin.Model(pinmodel)

	nameGen = LangCDefaultVariableNameGenerator("y", "x", "v", "array", "sarray")

	nq = model.nq

	nv = model.nv

	pinmodel = pin.buildSampleModelHumanoidRandom()

	x = np.array([ADCG(CG(0.0))] * (nq + nv + nv))

	y = cgpin.rnea(model, data, x[:nq], x[nq : nq + nv], x[nq + nv :])

Variable Documentation

◆ code

codegen-rnea.code = handler.generateCode(langC, jac, nameGen, "source")

Definition at line 47 of file codegen-rnea.py.

◆ data

codegen-rnea.data = model.createData()

Definition at line 18 of file codegen-rnea.py.

◆ fun

codegen-rnea.fun = ADCGFun(x, y)

Definition at line 29 of file codegen-rnea.py.

◆ handler

codegen-rnea.handler = CodeHandler(50)

Definition at line 38 of file codegen-rnea.py.

◆ indVars

codegen-rnea.indVars = np.array([CG(1.0)] * (nq + nv + nv))

Definition at line 40 of file codegen-rnea.py.

◆ jac

codegen-rnea.jac = fun.Jacobian(indVars)

Definition at line 43 of file codegen-rnea.py.

◆ langC

codegen-rnea.langC = LanguageC("double", 3)

Definition at line 45 of file codegen-rnea.py.

◆ model

codegen-rnea.model = cgpin.Model(pinmodel)

Definition at line 17 of file codegen-rnea.py.

◆ nameGen

codegen-rnea.nameGen = LangCDefaultVariableNameGenerator("y", "x", "v", "array", "sarray")

Definition at line 46 of file codegen-rnea.py.

◆ nq

codegen-rnea.nq = model.nq

Definition at line 20 of file codegen-rnea.py.

◆ nv

codegen-rnea.nv = model.nv

Definition at line 21 of file codegen-rnea.py.

◆ pinmodel

codegen-rnea.pinmodel = pin.buildSampleModelHumanoidRandom()

Definition at line 16 of file codegen-rnea.py.

◆ x

codegen-rnea.x = np.array([ADCG(CG(0.0))] * (nq + nv + nv))

Definition at line 23 of file codegen-rnea.py.

◆ y

codegen-rnea.y = cgpin.rnea(model, data, x[:nq], x[nq : nq + nv], x[nq + nv :])

Definition at line 27 of file codegen-rnea.py.

Variables