pinocchio::CodeGenCRBA< _Scalar > Struct Template Reference

#include <code-generator-algo.hpp>

Inheritance diagram for pinocchio::CodeGenCRBA< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType
typedef Base::ADTangentVectorType	ADTangentVectorType
typedef CodeGenBase< _Scalar >	Base
typedef Base::MatrixXs	MatrixXs
typedef Base::Model	Model
typedef Base::Scalar	Scalar
typedef Base::VectorXs	VectorXs
Public Types inherited from pinocchio::CodeGenBase< _Scalar >
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
void	buildMap ()
	build the mapping Y = f(X) More...
	CodeGenCRBA (const Model &model, const std::string &function_name="crba", const std::string &library_name="cg_crba_eval")
template<typename ConfigVectorType >
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType > &q)
virtual	~CodeGenCRBA ()
Public Member Functions inherited from 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)
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 ()

Public Attributes
MatrixXs	M

Protected Attributes
ADData	ad_data
ADFun	ad_fun
ADModel	ad_model
ADConfigVectorType	ad_q
ADVectorXs	ad_X
ADVectorXs	ad_Y
VectorXs	res
VectorXs	x
VectorXs	y
Protected Attributes inherited from pinocchio::CodeGenBase< _Scalar >
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::CodeGenCRBA< _Scalar >

Definition at line 262 of file code-generator-algo.hpp.

Member Typedef Documentation

ADConfigVectorType

template<typename _Scalar >

typedef Base::ADConfigVectorType pinocchio::CodeGenCRBA< _Scalar >::ADConfigVectorType

Definition at line 268 of file code-generator-algo.hpp.

ADTangentVectorType

template<typename _Scalar >

typedef Base::ADTangentVectorType pinocchio::CodeGenCRBA< _Scalar >::ADTangentVectorType

Definition at line 269 of file code-generator-algo.hpp.

Base

template<typename _Scalar >

typedef CodeGenBase<_Scalar> pinocchio::CodeGenCRBA< _Scalar >::Base

Definition at line 264 of file code-generator-algo.hpp.

MatrixXs

template<typename _Scalar >

typedef Base::MatrixXs pinocchio::CodeGenCRBA< _Scalar >::MatrixXs

Definition at line 270 of file code-generator-algo.hpp.

Model

template<typename _Scalar >

typedef Base::Model pinocchio::CodeGenCRBA< _Scalar >::Model

Definition at line 267 of file code-generator-algo.hpp.

Scalar

template<typename _Scalar >

typedef Base::Scalar pinocchio::CodeGenCRBA< _Scalar >::Scalar

Definition at line 265 of file code-generator-algo.hpp.

VectorXs

template<typename _Scalar >

typedef Base::VectorXs pinocchio::CodeGenCRBA< _Scalar >::VectorXs

Definition at line 271 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

CodeGenCRBA()

template<typename _Scalar >

pinocchio::CodeGenCRBA< _Scalar >::CodeGenCRBA ( const Model &  model, const std::string &  function_name = "crba", const std::string &  library_name = "cg_crba_eval"  )

inline

Definition at line 273 of file code-generator-algo.hpp.

~CodeGenCRBA()

template<typename _Scalar >

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

inlinevirtual

Definition at line 289 of file code-generator-algo.hpp.

Member Function Documentation

buildMap()

template<typename _Scalar >

void pinocchio::CodeGenCRBA< _Scalar >::buildMap ( )

inlinevirtual

build the mapping Y = f(X)

Implements pinocchio::CodeGenBase< _Scalar >.

Definition at line 293 of file code-generator-algo.hpp.

evalFunction()

template<typename _Scalar >

template<typename ConfigVectorType >

void pinocchio::CodeGenCRBA< _Scalar >::evalFunction ( const Eigen::MatrixBase< ConfigVectorType > &  q )

inline

Definition at line 319 of file code-generator-algo.hpp.

Member Data Documentation

ad_data

template<typename _Scalar >

ADData pinocchio::CodeGenBase< _Scalar >::ad_data

protected

Definition at line 182 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::CodeGenCRBA< _Scalar >::ad_q

protected

Definition at line 354 of file code-generator-algo.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.

M

template<typename _Scalar >

MatrixXs pinocchio::CodeGenCRBA< _Scalar >::M

Definition at line 341 of file code-generator-algo.hpp.

res

template<typename _Scalar >

VectorXs pinocchio::CodeGenCRBA< _Scalar >::res

protected

Definition at line 352 of file code-generator-algo.hpp.

x

template<typename _Scalar >

VectorXs pinocchio::CodeGenCRBA< _Scalar >::x

protected

Definition at line 351 of file code-generator-algo.hpp.

y

template<typename _Scalar >

VectorXs pinocchio::CodeGenBase< _Scalar >::y

protected

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

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

• code-generator-algo.hpp