#include <code-generator-algo.hpp>

Inheritance diagram for pinocchio::CodeGenRNEA< _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...

	CodeGenRNEA (const Model &model, const std::string &function_name="rnea", const std::string &library_name="cg_rnea_eval")

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &a)

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

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >
void	evalJacobian (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &a)

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

virtual	~CodeGenRNEA ()

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	dtau_da

MatrixXs	dtau_dq

MatrixXs	dtau_dv

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

RowMatrixXs	jac

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::CodeGenRNEA< _Scalar >

Definition at line 22 of file code-generator-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar >

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

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

◆ ADTangentVectorType

template<typename _Scalar >

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

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

◆ Base

template<typename _Scalar >

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

Definition at line 24 of file code-generator-algo.hpp.

◆ MatrixXs

template<typename _Scalar >

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

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

◆ Model

template<typename _Scalar >

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

Definition at line 27 of file code-generator-algo.hpp.

◆ Scalar

template<typename _Scalar >

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

Definition at line 25 of file code-generator-algo.hpp.

◆ VectorXs

template<typename _Scalar >

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

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

Constructor & Destructor Documentation

◆ CodeGenRNEA()

template<typename _Scalar >

pinocchio::CodeGenRNEA< _Scalar >::CodeGenRNEA	(	const Model &	model,
		const std::string &	function_name = `"rnea"`,
		const std::string &	library_name = `"cg_rnea_eval"`
	)

inline

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

◆ ~CodeGenRNEA()

template<typename _Scalar >

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

inlinevirtual

Definition at line 53 of file code-generator-algo.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar >

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

inlinevirtual

build the mapping Y = f(X)

Implements pinocchio::CodeGenBase< _Scalar >.

Definition at line 57 of file code-generator-algo.hpp.

◆ evalFunction() [1/2]

template<typename _Scalar >

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >

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

inline

Definition at line 79 of file code-generator-algo.hpp.

◆ evalFunction() [2/2]

template<typename _Scalar >

template<typename Vector >

void pinocchio::CodeGenBase< _Scalar >::evalFunction ( typename Vector )

inline

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

◆ evalJacobian() [1/2]

template<typename _Scalar >

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >

void pinocchio::CodeGenRNEA< _Scalar >::evalJacobian	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVector1 > &	v,
		const Eigen::MatrixBase< TangentVector2 > &	a
	)

inline

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

◆ evalJacobian() [2/2]

template<typename _Scalar >

template<typename Vector >

void pinocchio::CodeGenBase< _Scalar >::evalJacobian ( typename Vector )

inline

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

Member Data Documentation

◆ ad_a

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenRNEA< _Scalar >::ad_a

protected

Definition at line 138 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_dq

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenRNEA< _Scalar >::ad_dq

protected

Definition at line 138 of file code-generator-algo.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::CodeGenRNEA< _Scalar >::ad_q

protected

Definition at line 137 of file code-generator-algo.hpp.

◆ ad_q_plus

template<typename _Scalar >

ADConfigVectorType pinocchio::CodeGenRNEA< _Scalar >::ad_q_plus

protected

Definition at line 137 of file code-generator-algo.hpp.

◆ ad_v

template<typename _Scalar >

ADTangentVectorType pinocchio::CodeGenRNEA< _Scalar >::ad_v

protected

Definition at line 138 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.

◆ dtau_da

template<typename _Scalar >

MatrixXs pinocchio::CodeGenRNEA< _Scalar >::dtau_da

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

◆ dtau_dq

template<typename _Scalar >

MatrixXs pinocchio::CodeGenRNEA< _Scalar >::dtau_dq

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

◆ dtau_dv

template<typename _Scalar >

MatrixXs pinocchio::CodeGenRNEA< _Scalar >::dtau_dv

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

◆ jac

template<typename _Scalar >

RowMatrixXs pinocchio::CodeGenBase< _Scalar >::jac

protected

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

◆ res

template<typename _Scalar >

VectorXs pinocchio::CodeGenRNEA< _Scalar >::res

protected

Definition at line 135 of file code-generator-algo.hpp.

◆ x

template<typename _Scalar >

VectorXs pinocchio::CodeGenRNEA< _Scalar >::x

protected

Definition at line 134 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.

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

code-generator-algo.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ADConfigVectorType

◆ ADTangentVectorType

◆ Base

◆ MatrixXs

◆ Model

◆ Scalar

◆ VectorXs

Constructor & Destructor Documentation

◆ CodeGenRNEA()

◆ ~CodeGenRNEA()

Member Function Documentation

◆ buildMap()

◆ evalFunction() [1/2]

◆ evalFunction() [2/2]

◆ evalJacobian() [1/2]

◆ evalJacobian() [2/2]

Member Data Documentation

◆ ad_a

◆ ad_data

◆ ad_dq

◆ ad_fun

◆ ad_model

◆ ad_q

◆ ad_q_plus

◆ ad_v

◆ ad_X

◆ ad_Y

◆ dtau_da

◆ dtau_dq

◆ dtau_dv

◆ jac

◆ res

◆ x

◆ y

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