Go to the source code of this file.
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| | codegen-rnea.code = handler.generateCode(langC, jac, nameGen, "source") |
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| | codegen-rnea.data = model.createData() |
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| | codegen-rnea.fun = ADCGFun(x, y) |
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| | codegen-rnea.handler = CodeHandler(50) |
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| | codegen-rnea.indVars = np.array([CG(1.0)] * (nq + nv + nv)) |
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| | codegen-rnea.jac = fun.Jacobian(indVars) |
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| | codegen-rnea.langC = LanguageC("double", 3) |
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| | codegen-rnea.model = cgpin.Model(pinmodel) |
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| | codegen-rnea.nameGen = LangCDefaultVariableNameGenerator("y", "x", "v", "array", "sarray") |
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| | codegen-rnea.nq = model.nq |
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| | codegen-rnea.nv = model.nv |
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| | codegen-rnea.pinmodel = pin.buildSampleModelHumanoidRandom() |
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| | codegen-rnea.x = np.array([ADCG(CG(0.0))] * (nq + nv + nv)) |
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| | codegen-rnea.y = cgpin.rnea(model, data, x[:nq], x[nq : nq + nv], x[nq + nv :]) |
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