#include <code-generator-base.hpp>

Inheritance diagram for pinocchio::CodeGenBase< _Scalar >:

[legend]

Public Types
enum	{ Options = 0 }

typedef ADModel::ConfigVectorType	ADConfigVectorType

typedef pinocchio::DataTpl< ADScalar, Options >	ADData

typedef CppAD::ADFun< CGScalar >	ADFun

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

typedef pinocchio::ModelTpl< ADScalar, Options >	ADModel

typedef CppAD::AD< CGScalar >	ADScalar

typedef ADModel::TangentVectorType	ADTangentVectorType

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

typedef pinocchio::DataTpl< CGScalar, Options >	CGData

typedef pinocchio::ModelTpl< CGScalar, Options >	CGModel

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

typedef Model::ConfigVectorType	ConfigVectorType

typedef pinocchio::DataTpl< Scalar, Options >	Data

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

typedef pinocchio::ModelTpl< Scalar, Options >	Model

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

typedef _Scalar	Scalar

typedef Model::TangentVectorType	TangentVectorType

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

Public Member Functions
virtual void	buildMap ()=0
	build the mapping Y = f(X) More...

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

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

void	compileAndLoadLib (const std::string &gcc_path)

void	compileLib (const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast")

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

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

bool	existLib () const

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

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

void	initLib ()

void	loadLib (const bool generate_if_not_exist=true, const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast")

virtual	~CodeGenBase ()

Protected Attributes
ADTangentVectorType	ad_a

ADData	ad_data

ADTangentVectorType	ad_dq

ADFun	ad_fun

ADModel	ad_model

ADConfigVectorType	ad_q

ADConfigVectorType	ad_q_plus

ADTangentVectorType	ad_v

ADVectorXs	ad_X

ADVectorXs	ad_Y

bool	build_forward
	Options to generate or not the source code for the evaluation function. More...

bool	build_jacobian
	Options to build or not the Jacobian of he function. More...

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

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

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

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

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

RowMatrixXs	jac

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

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

VectorXs	y

Detailed Description

template<typename _Scalar>
struct pinocchio::CodeGenBase< _Scalar >

Definition at line 17 of file code-generator-base.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar >

typedef ADModel::ConfigVectorType pinocchio::CodeGenBase< _Scalar >::ADConfigVectorType

Definition at line 45 of file code-generator-base.hpp.

◆ ADData

template<typename _Scalar >

typedef pinocchio::DataTpl<ADScalar, Options> pinocchio::CodeGenBase< _Scalar >::ADData

Definition at line 33 of file code-generator-base.hpp.

◆ ADFun

template<typename _Scalar >

typedef CppAD::ADFun<CGScalar> pinocchio::CodeGenBase< _Scalar >::ADFun

Definition at line 48 of file code-generator-base.hpp.

◆ ADMatrixXs

template<typename _Scalar >

typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options> pinocchio::CodeGenBase< _Scalar >::ADMatrixXs

Definition at line 40 of file code-generator-base.hpp.

◆ ADModel

template<typename _Scalar >

typedef pinocchio::ModelTpl<ADScalar, Options> pinocchio::CodeGenBase< _Scalar >::ADModel

Definition at line 32 of file code-generator-base.hpp.

◆ ADScalar

template<typename _Scalar >

typedef CppAD::AD<CGScalar> pinocchio::CodeGenBase< _Scalar >::ADScalar

Definition at line 21 of file code-generator-base.hpp.

◆ ADTangentVectorType

template<typename _Scalar >

typedef ADModel::TangentVectorType pinocchio::CodeGenBase< _Scalar >::ADTangentVectorType

Definition at line 46 of file code-generator-base.hpp.

◆ ADVectorXs

template<typename _Scalar >

typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, 1, Options> pinocchio::CodeGenBase< _Scalar >::ADVectorXs

Definition at line 39 of file code-generator-base.hpp.

◆ CGData

template<typename _Scalar >

typedef pinocchio::DataTpl<CGScalar, Options> pinocchio::CodeGenBase< _Scalar >::CGData

Definition at line 31 of file code-generator-base.hpp.

◆ CGModel

template<typename _Scalar >

typedef pinocchio::ModelTpl<CGScalar, Options> pinocchio::CodeGenBase< _Scalar >::CGModel

Definition at line 30 of file code-generator-base.hpp.

◆ CGScalar

template<typename _Scalar >

typedef CppAD::cg::CG<Scalar> pinocchio::CodeGenBase< _Scalar >::CGScalar

Definition at line 20 of file code-generator-base.hpp.

◆ ConfigVectorType

template<typename _Scalar >

typedef Model::ConfigVectorType pinocchio::CodeGenBase< _Scalar >::ConfigVectorType

Definition at line 42 of file code-generator-base.hpp.

◆ Data

template<typename _Scalar >

typedef pinocchio::DataTpl<Scalar, Options> pinocchio::CodeGenBase< _Scalar >::Data

Definition at line 29 of file code-generator-base.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> pinocchio::CodeGenBase< _Scalar >::MatrixXs

Definition at line 35 of file code-generator-base.hpp.

◆ Model

template<typename _Scalar >

typedef pinocchio::ModelTpl<Scalar, Options> pinocchio::CodeGenBase< _Scalar >::Model

Definition at line 28 of file code-generator-base.hpp.

◆ RowMatrixXs

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options | Eigen::RowMajor> pinocchio::CodeGenBase< _Scalar >::RowMatrixXs

Definition at line 38 of file code-generator-base.hpp.

◆ Scalar

template<typename _Scalar >

typedef _Scalar pinocchio::CodeGenBase< _Scalar >::Scalar

Definition at line 19 of file code-generator-base.hpp.

◆ TangentVectorType

template<typename _Scalar >

typedef Model::TangentVectorType pinocchio::CodeGenBase< _Scalar >::TangentVectorType

Definition at line 43 of file code-generator-base.hpp.

◆ VectorXs

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> pinocchio::CodeGenBase< _Scalar >::VectorXs

Definition at line 36 of file code-generator-base.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar >

anonymous enum

Enumerator
Options

Definition at line 23 of file code-generator-base.hpp.

Constructor & Destructor Documentation

◆ CodeGenBase()

template<typename _Scalar >

pinocchio::CodeGenBase< _Scalar >::CodeGenBase	(	const Model &	model,
		const Eigen::DenseIndex	dim_input,
		const Eigen::DenseIndex	dim_output,
		const std::string &	function_name,
		const std::string &	library_name
	)

inline

Definition at line 50 of file code-generator-base.hpp.

◆ ~CodeGenBase()

template<typename _Scalar >

virtual pinocchio::CodeGenBase< _Scalar >::~CodeGenBase ( )

inlinevirtual

Definition at line 71 of file code-generator-base.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar >

virtual void pinocchio::CodeGenBase< _Scalar >::buildMap ( )

pure virtual

build the mapping Y = f(X)

Implemented in pinocchio::CodeGenDDifference< _Scalar >, pinocchio::CodeGenDifference< _Scalar >, pinocchio::CodeGenIntegrate< _Scalar >, pinocchio::CodeGenConstraintDynamics< _Scalar >, pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >, pinocchio::CodeGenABADerivatives< _Scalar >, pinocchio::CodeGenRNEADerivatives< _Scalar >, pinocchio::CodeGenMinv< _Scalar >, pinocchio::CodeGenCRBA< _Scalar >, pinocchio::CodeGenABA< _Scalar >, and pinocchio::CodeGenRNEA< _Scalar >.

◆ codeGenerator()

template<typename _Scalar >

CppAD::cg::ModelCSourceGen<Scalar>& pinocchio::CodeGenBase< _Scalar >::codeGenerator ( )

inline

Definition at line 94 of file code-generator-base.hpp.

◆ compileAndLoadLib()

template<typename _Scalar >

void pinocchio::CodeGenBase< _Scalar >::compileAndLoadLib ( const std::string & gcc_path )

inline

Definition at line 117 of file code-generator-base.hpp.

◆ compileLib()

template<typename _Scalar >

void pinocchio::CodeGenBase< _Scalar >::compileLib	(	const std::string &	gcc_path = `"/usr/bin/gcc"`,
		const std::string &	compile_options = `"-Ofast"`
	)

inline

Definition at line 99 of file code-generator-base.hpp.

◆ evalFunction()

template<typename _Scalar >

template<typename Vector >

void pinocchio::CodeGenBase< _Scalar >::evalFunction ( const Eigen::MatrixBase< Vector > & x )

inline

Definition at line 151 of file code-generator-base.hpp.

◆ evalJacobian()

template<typename _Scalar >

template<typename Vector >

void pinocchio::CodeGenBase< _Scalar >::evalJacobian ( const Eigen::MatrixBase< Vector > & x )

inline

Definition at line 159 of file code-generator-base.hpp.

◆ existLib()

template<typename _Scalar >

bool pinocchio::CodeGenBase< _Scalar >::existLib ( ) const

inline

Definition at line 109 of file code-generator-base.hpp.

◆ getInputDimension()

template<typename _Scalar >

Eigen::DenseIndex pinocchio::CodeGenBase< _Scalar >::getInputDimension ( ) const

inline

Dimension of the input vector.

Definition at line 170 of file code-generator-base.hpp.

◆ getOutputDimension()

template<typename _Scalar >

Eigen::DenseIndex pinocchio::CodeGenBase< _Scalar >::getOutputDimension ( ) const

inline

Dimension of the output vector.

Definition at line 175 of file code-generator-base.hpp.

◆ initLib()

template<typename _Scalar >

void pinocchio::CodeGenBase< _Scalar >::initLib ( )

inline

Definition at line 78 of file code-generator-base.hpp.

◆ loadLib()

template<typename _Scalar >

void pinocchio::CodeGenBase< _Scalar >::loadLib	(	const bool	generate_if_not_exist = `true`,
		const std::string &	gcc_path = `"/usr/bin/gcc"`,
		const std::string &	compile_options = `"-Ofast"`
	)

inline

Definition at line 123 of file code-generator-base.hpp.

Member Data Documentation

◆ ad_a

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenBase< _Scalar >::ad_a

protected

Definition at line 199 of file code-generator-base.hpp.

◆ ad_data

template<typename _Scalar >

ADData pinocchio::CodeGenBase< _Scalar >::ad_data

protected

Definition at line 182 of file code-generator-base.hpp.

◆ ad_dq

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenBase< _Scalar >::ad_dq

protected

Definition at line 199 of file code-generator-base.hpp.

◆ ad_fun

template<typename _Scalar >

ADFun pinocchio::CodeGenBase< _Scalar >::ad_fun

protected

Definition at line 196 of file code-generator-base.hpp.

◆ ad_model

template<typename _Scalar >

ADModel pinocchio::CodeGenBase< _Scalar >::ad_model

protected

Definition at line 181 of file code-generator-base.hpp.

◆ ad_q

template<typename _Scalar >

ADConfigVectorType pinocchio::CodeGenBase< _Scalar >::ad_q

protected

Definition at line 198 of file code-generator-base.hpp.

◆ ad_q_plus

template<typename _Scalar >

ADConfigVectorType pinocchio::CodeGenBase< _Scalar >::ad_q_plus

protected

Definition at line 198 of file code-generator-base.hpp.

◆ ad_v

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenBase< _Scalar >::ad_v

protected

Definition at line 199 of file code-generator-base.hpp.

◆ ad_X

template<typename _Scalar >

ADVectorXs pinocchio::CodeGenBase< _Scalar >::ad_X

protected

Definition at line 195 of file code-generator-base.hpp.

◆ ad_Y

template<typename _Scalar >

ADVectorXs pinocchio::CodeGenBase< _Scalar >::ad_Y

protected

Definition at line 195 of file code-generator-base.hpp.

◆ build_forward

template<typename _Scalar >

bool pinocchio::CodeGenBase< _Scalar >::build_forward

protected

Options to generate or not the source code for the evaluation function.

Definition at line 190 of file code-generator-base.hpp.

◆ build_jacobian

template<typename _Scalar >

bool pinocchio::CodeGenBase< _Scalar >::build_jacobian

protected

Options to build or not the Jacobian of he function.

Definition at line 193 of file code-generator-base.hpp.

◆ cgen_ptr

template<typename _Scalar >

std::unique_ptr<CppAD::cg::ModelCSourceGen<Scalar> > pinocchio::CodeGenBase< _Scalar >::cgen_ptr

protected

Definition at line 204 of file code-generator-base.hpp.

◆ dynamicLib_ptr

template<typename _Scalar >

std::unique_ptr<CppAD::cg::DynamicLib<Scalar> > pinocchio::CodeGenBase< _Scalar >::dynamicLib_ptr

protected

Definition at line 207 of file code-generator-base.hpp.

◆ dynamicLibManager_ptr

template<typename _Scalar >

std::unique_ptr<CppAD::cg::DynamicModelLibraryProcessor<Scalar> > pinocchio::CodeGenBase< _Scalar >::dynamicLibManager_ptr

protected

Definition at line 206 of file code-generator-base.hpp.

◆ function_name

template<typename _Scalar >

const std::string pinocchio::CodeGenBase< _Scalar >::function_name

protected

Name of the function.

Definition at line 185 of file code-generator-base.hpp.

◆ generatedFun_ptr

template<typename _Scalar >

std::unique_ptr<CppAD::cg::GenericModel<Scalar> > pinocchio::CodeGenBase< _Scalar >::generatedFun_ptr

protected

Definition at line 208 of file code-generator-base.hpp.

◆ jac

template<typename _Scalar >

RowMatrixXs pinocchio::CodeGenBase< _Scalar >::jac

protected

Definition at line 202 of file code-generator-base.hpp.

◆ libcgen_ptr

template<typename _Scalar >

std::unique_ptr<CppAD::cg::ModelLibraryCSourceGen<Scalar> > pinocchio::CodeGenBase< _Scalar >::libcgen_ptr

protected

Definition at line 205 of file code-generator-base.hpp.

◆ library_name

template<typename _Scalar >

const std::string pinocchio::CodeGenBase< _Scalar >::library_name

protected

Name of the library.

Definition at line 187 of file code-generator-base.hpp.

◆ y

template<typename _Scalar >

VectorXs pinocchio::CodeGenBase< _Scalar >::y

protected

Definition at line 201 of file code-generator-base.hpp.

The documentation for this struct was generated from the following file:

code-generator-base.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<typename _Scalar> struct pinocchio::CodeGenBase< _Scalar >

Member Typedef Documentation

◆ ADConfigVectorType

◆ ADData

◆ ADFun

◆ ADMatrixXs

◆ ADModel

◆ ADScalar

◆ ADTangentVectorType

◆ ADVectorXs

◆ CGData

◆ CGModel

◆ CGScalar

◆ ConfigVectorType

◆ Data

◆ MatrixXs

◆ Model

◆ RowMatrixXs

◆ Scalar

◆ TangentVectorType

◆ VectorXs

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ CodeGenBase()

◆ ~CodeGenBase()

Member Function Documentation

◆ buildMap()

◆ codeGenerator()

◆ compileAndLoadLib()

◆ compileLib()

◆ evalFunction()

◆ evalJacobian()

◆ existLib()

◆ getInputDimension()

◆ getOutputDimension()

◆ initLib()

◆ loadLib()

Member Data Documentation

◆ ad_a

◆ ad_data

◆ ad_dq

◆ ad_fun

◆ ad_model

◆ ad_q

◆ ad_q_plus

◆ ad_v

◆ ad_X

◆ ad_Y

◆ build_forward

◆ build_jacobian

◆ cgen_ptr

◆ dynamicLib_ptr

◆ dynamicLibManager_ptr

◆ function_name

◆ generatedFun_ptr

◆ jac

◆ libcgen_ptr

◆ library_name

◆ y

template<typename _Scalar>
struct pinocchio::CodeGenBase< _Scalar >