pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar > Struct Template Reference

#include <code-generator-algo.hpp>

Inheritance diagram for pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType
typedef Eigen::aligned_allocator< ADContactData >	ADConstraintDataAllocator
typedef Eigen::aligned_allocator< ADContactModel >	ADConstraintModelAllocator
typedef pinocchio::RigidConstraintDataTpl< ADScalar, Base::Options >	ADContactData
typedef std::vector< ADContactData, ADConstraintDataAllocator >	ADContactDataVector
typedef pinocchio::RigidConstraintModelTpl< ADScalar, Base::Options >	ADContactModel
typedef std::vector< ADContactModel, ADConstraintModelAllocator >	ADContactModelVector
typedef Base::ADData	ADData
typedef ADData::MatrixXs	ADMatrixXs
typedef Base::ADScalar	ADScalar
typedef Base::ADTangentVectorType	ADTangentVectorType
typedef CodeGenBase< _Scalar >	Base
typedef Eigen::aligned_allocator< ContactData >	ConstraintDataAllocator
typedef Eigen::aligned_allocator< ContactModel >	ConstraintModelAllocator
typedef pinocchio::RigidConstraintDataTpl< Scalar, Base::Options >	ContactData
typedef std::vector< ContactData, ConstraintDataAllocator >	ContactDataVector
typedef pinocchio::RigidConstraintModelTpl< Scalar, Base::Options >	ContactModel
typedef std::vector< ContactModel, ConstraintModelAllocator >	ContactModelVector
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...
	CodeGenConstraintDynamicsDerivatives (const Model &model, const ContactModelVector &contact_models, const std::string &function_name="partial_constraintDynamics", const std::string &library_name="cg_partial_constraintDynamics_eval")
Eigen::DenseIndex	constraintDim (const ContactModelVector &contact_models) const
template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &tau)
typedef	PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (ADMatrixXs) RowADMatrixXs
typedef	PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (MatrixXs) RowMatrixXs
virtual	~CodeGenConstraintDynamicsDerivatives ()
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 ()

Protected Attributes
ADContactDataVector	ad_contact_datas
ADContactModelVector	ad_contact_models
ADData	ad_data
ADFun	ad_fun
ADModel	ad_model
ADConfigVectorType	ad_q
ADTangentVectorType	ad_tau
ADTangentVectorType	ad_v
ADVectorXs	ad_X
ADVectorXs	ad_Y
MatrixXs	dddq_dq
MatrixXs	dddq_dtau
MatrixXs	dddq_dv
MatrixXs	dlambda_dq
MatrixXs	dlambda_dtau
MatrixXs	dlambda_dv
Eigen::DenseIndex	nc
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::CodeGenConstraintDynamicsDerivatives< _Scalar >

Definition at line 689 of file code-generator-algo.hpp.

Member Typedef Documentation

ADConfigVectorType

template<typename _Scalar >

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

Definition at line 697 of file code-generator-algo.hpp.

ADConstraintDataAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ADContactData> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADConstraintDataAllocator

Definition at line 714 of file code-generator-algo.hpp.

ADConstraintModelAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ADContactModel> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADConstraintModelAllocator

Definition at line 711 of file code-generator-algo.hpp.

ADContactData

template<typename _Scalar >

typedef pinocchio::RigidConstraintDataTpl<ADScalar, Base::Options> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADContactData

Definition at line 713 of file code-generator-algo.hpp.

ADContactDataVector

template<typename _Scalar >

typedef std::vector<ADContactData, ADConstraintDataAllocator> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADContactDataVector

Definition at line 715 of file code-generator-algo.hpp.

ADContactModel

template<typename _Scalar >

typedef pinocchio::RigidConstraintModelTpl<ADScalar, Base::Options> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADContactModel

Definition at line 710 of file code-generator-algo.hpp.

ADContactModelVector

template<typename _Scalar >

typedef std::vector<ADContactModel, ADConstraintModelAllocator> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADContactModelVector

Definition at line 712 of file code-generator-algo.hpp.

ADData

template<typename _Scalar >

typedef Base::ADData pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADData

Definition at line 717 of file code-generator-algo.hpp.

ADMatrixXs

template<typename _Scalar >

typedef ADData::MatrixXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADMatrixXs

Definition at line 718 of file code-generator-algo.hpp.

ADScalar

template<typename _Scalar >

typedef Base::ADScalar pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ADScalar

Definition at line 693 of file code-generator-algo.hpp.

ADTangentVectorType

template<typename _Scalar >

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

Definition at line 698 of file code-generator-algo.hpp.

Base

template<typename _Scalar >

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

Definition at line 691 of file code-generator-algo.hpp.

ConstraintDataAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ContactData> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ConstraintDataAllocator

Definition at line 707 of file code-generator-algo.hpp.

ConstraintModelAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ContactModel> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ConstraintModelAllocator

Definition at line 704 of file code-generator-algo.hpp.

ContactData

template<typename _Scalar >

typedef pinocchio::RigidConstraintDataTpl<Scalar, Base::Options> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ContactData

Definition at line 706 of file code-generator-algo.hpp.

ContactDataVector

template<typename _Scalar >

typedef std::vector<ContactData, ConstraintDataAllocator> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ContactDataVector

Definition at line 708 of file code-generator-algo.hpp.

ContactModel

template<typename _Scalar >

typedef pinocchio::RigidConstraintModelTpl<Scalar, Base::Options> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ContactModel

Definition at line 703 of file code-generator-algo.hpp.

ContactModelVector

template<typename _Scalar >

typedef std::vector<ContactModel, ConstraintModelAllocator> pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ContactModelVector

Definition at line 705 of file code-generator-algo.hpp.

MatrixXs

template<typename _Scalar >

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

Definition at line 699 of file code-generator-algo.hpp.

Model

template<typename _Scalar >

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

Definition at line 695 of file code-generator-algo.hpp.

Scalar

template<typename _Scalar >

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

Definition at line 692 of file code-generator-algo.hpp.

VectorXs

template<typename _Scalar >

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

Definition at line 701 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

CodeGenConstraintDynamicsDerivatives()

template<typename _Scalar >

pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::CodeGenConstraintDynamicsDerivatives ( const Model &  model, const ContactModelVector &  contact_models, const std::string &  function_name = "partial_constraintDynamics", const std::string &  library_name = "cg_partial_constraintDynamics_eval"  )

inline

Definition at line 734 of file code-generator-algo.hpp.

~CodeGenConstraintDynamicsDerivatives()

template<typename _Scalar >

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

inlinevirtual

Definition at line 780 of file code-generator-algo.hpp.

Member Function Documentation

buildMap()

template<typename _Scalar >

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

inlinevirtual

build the mapping Y = f(X)

Implements pinocchio::CodeGenBase< _Scalar >.

Definition at line 784 of file code-generator-algo.hpp.

constraintDim()

template<typename _Scalar >

Eigen::DenseIndex pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::constraintDim ( const ContactModelVector &  contact_models ) const

inline

Definition at line 721 of file code-generator-algo.hpp.

evalFunction()

template<typename _Scalar >

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >

void pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::evalFunction ( const Eigen::MatrixBase< ConfigVectorType > &  q, const Eigen::MatrixBase< TangentVector1 > &  v, const Eigen::MatrixBase< TangentVector2 > &  tau  )

inline

Definition at line 820 of file code-generator-algo.hpp.

PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE() [1/2]

template<typename _Scalar >

typedef pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE

(

ADMatrixXs

)

PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE() [2/2]

template<typename _Scalar >

typedef pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE

(

MatrixXs

)

Member Data Documentation

ad_contact_datas

template<typename _Scalar >

ADContactDataVector pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ad_contact_datas

protected

Definition at line 862 of file code-generator-algo.hpp.

ad_contact_models

template<typename _Scalar >

ADContactModelVector pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ad_contact_models

protected

Definition at line 861 of file code-generator-algo.hpp.

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::CodeGenConstraintDynamicsDerivatives< _Scalar >::ad_q

protected

Definition at line 868 of file code-generator-algo.hpp.

ad_tau

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ad_tau

protected

Definition at line 869 of file code-generator-algo.hpp.

ad_v

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::ad_v

protected

Definition at line 869 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.

dddq_dq

template<typename _Scalar >

MatrixXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::dddq_dq

protected

Definition at line 865 of file code-generator-algo.hpp.

dddq_dtau

template<typename _Scalar >

MatrixXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::dddq_dtau

protected

Definition at line 865 of file code-generator-algo.hpp.

dddq_dv

template<typename _Scalar >

MatrixXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::dddq_dv

protected

Definition at line 865 of file code-generator-algo.hpp.

dlambda_dq

template<typename _Scalar >

MatrixXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::dlambda_dq

protected

Definition at line 866 of file code-generator-algo.hpp.

dlambda_dtau

template<typename _Scalar >

MatrixXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::dlambda_dtau

protected

Definition at line 866 of file code-generator-algo.hpp.

dlambda_dv

template<typename _Scalar >

MatrixXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::dlambda_dv

protected

Definition at line 866 of file code-generator-algo.hpp.

nc

template<typename _Scalar >

Eigen::DenseIndex pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::nc

protected

Definition at line 860 of file code-generator-algo.hpp.

x

template<typename _Scalar >

VectorXs pinocchio::CodeGenConstraintDynamicsDerivatives< _Scalar >::x

protected

Definition at line 864 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