#include <casadi-algo.hpp>

Inheritance diagram for pinocchio.casadi::AutoDiffABA< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType

typedef Base::ADFun	ADFun

typedef Base::ADScalar	ADScalar

typedef Base::ADSVector	ADSVector

typedef Base::ADTangentVectorType	ADTangentVectorType

typedef AutoDiffAlgoBase< _Scalar >	Base

typedef Base::DMMatrix	DMMatrix

typedef Base::DMVector	DMVector

typedef Base::MatrixXs	MatrixXs

typedef Base::RowMatrixXs	RowMatrixXs

typedef Base::Scalar	Scalar

typedef Base::TangentVectorType	TangentVectorType

typedef Base::VectorXs	VectorXs

Public Types inherited from pinocchio.casadi::AutoDiffAlgoBase< _Scalar >
enum	{ Options = 0 }

typedef ADModel::ConfigVectorType	ADConfigVectorType

typedef pinocchio::DataTpl< ADScalar, Options >	ADData

typedef ::casadi::Function	ADFun

typedef pinocchio::ModelTpl< ADScalar, Options >	ADModel

typedef ::casadi::SX	ADScalar

typedef ::casadi::SXVector	ADSVector

typedef ADModel::TangentVectorType	ADTangentVectorType

typedef Model::ConfigVectorType	ConfigVectorType

typedef pinocchio::DataTpl< Scalar, Options >	Data

typedef ::casadi::DM	DMMatrix

typedef ::casadi::DMVector	DMVector

typedef Data::MatrixXs	MatrixXs

typedef pinocchio::ModelTpl< Scalar, Options >	Model

typedef Data::RowMatrixXs	RowMatrixXs

typedef _Scalar	Scalar

typedef Model::TangentVectorType	TangentVectorType

typedef Data::VectorXs	VectorXs

Public Member Functions
	AutoDiffABA (const Model &model, const std::string &filename="casadi_aba", const std::string &libname="libcasadi_cg_aba", const std::string &fun_name="eval_f")

virtual void	buildMap ()
	build the mapping Y = f(X) More...

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType1 > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau)

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >
void	evalJacobian (const Eigen::MatrixBase< ConfigVectorType1 > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau)

virtual	~AutoDiffABA ()

Public Member Functions inherited from pinocchio.casadi::AutoDiffAlgoBase< _Scalar >
	AutoDiffAlgoBase (const Model &model, const std::string &filename, const std::string &libname, const std::string &fun_name)

void	compileLib ()

bool	existLib () const

casadi_int	getFunDerivsOperationCount () const

casadi_int	getFunOperationCount () const

void	initLib ()

void	loadLib (const bool generate_if_not_exist=true)

virtual	~AutoDiffAlgoBase ()

Public Attributes
TangentVectorType	ddq

RowMatrixXs	ddq_dq

RowMatrixXs	ddq_dtau

RowMatrixXs	ddq_dv

Protected Attributes
ADData	ad_data

ADFun	ad_fun

ADFun	ad_fun_derivs

ADModel	ad_model

::casadi::CodeGenerator	cg_generated

ADScalar	cs_ddq

ADScalar	cs_ddq_dq

ADScalar	cs_ddq_dtau

ADScalar	cs_ddq_dv

ADScalar	cs_q

ADScalar	cs_tau

ADScalar	cs_v

ADScalar	cs_v_int

std::string	filename

ADFun	fun

ADFun	fun_derivs

std::string	fun_name

std::vector< DMMatrix >	fun_output

std::vector< DMMatrix >	fun_output_derivs

std::string	libname

ADConfigVectorType	q_ad

ADConfigVectorType	q_int_ad

std::vector< Scalar >	q_vec

ADTangentVectorType	tau_ad

std::vector< Scalar >	tau_vec

ADTangentVectorType	v_ad

ADTangentVectorType	v_int_ad

std::vector< Scalar >	v_int_vec

std::vector< Scalar >	v_vec

Protected Attributes inherited from pinocchio.casadi::AutoDiffAlgoBase< _Scalar >
ADData	ad_data

ADFun	ad_fun

ADFun	ad_fun_derivs

ADModel	ad_model

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...

::casadi::CodeGenerator	cg_generated

std::string	filename

ADFun	fun

ADFun	fun_derivs

casadi_int	fun_derivs_operation_count

std::string	fun_name

casadi_int	fun_operation_count

std::vector< DMMatrix >	fun_output

std::vector< DMMatrix >	fun_output_derivs

std::string	libname

Detailed Description

template<typename _Scalar>
struct pinocchio.casadi::AutoDiffABA< _Scalar >

Definition at line 154 of file casadi-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar >

typedef Base::ADConfigVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::ADConfigVectorType

Definition at line 169 of file casadi-algo.hpp.

◆ ADFun

template<typename _Scalar >

typedef Base::ADFun pinocchio.casadi::AutoDiffABA< _Scalar >::ADFun

Definition at line 164 of file casadi-algo.hpp.

◆ ADScalar

template<typename _Scalar >

typedef Base::ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::ADScalar

Definition at line 167 of file casadi-algo.hpp.

◆ ADSVector

template<typename _Scalar >

typedef Base::ADSVector pinocchio.casadi::AutoDiffABA< _Scalar >::ADSVector

Definition at line 168 of file casadi-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar >

typedef Base::ADTangentVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::ADTangentVectorType

Definition at line 170 of file casadi-algo.hpp.

◆ Base

template<typename _Scalar >

typedef AutoDiffAlgoBase<_Scalar> pinocchio.casadi::AutoDiffABA< _Scalar >::Base

Definition at line 156 of file casadi-algo.hpp.

◆ DMMatrix

template<typename _Scalar >

typedef Base::DMMatrix pinocchio.casadi::AutoDiffABA< _Scalar >::DMMatrix

Definition at line 166 of file casadi-algo.hpp.

◆ DMVector

template<typename _Scalar >

typedef Base::DMVector pinocchio.casadi::AutoDiffABA< _Scalar >::DMVector

Definition at line 165 of file casadi-algo.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef Base::MatrixXs pinocchio.casadi::AutoDiffABA< _Scalar >::MatrixXs

Definition at line 162 of file casadi-algo.hpp.

◆ RowMatrixXs

template<typename _Scalar >

typedef Base::RowMatrixXs pinocchio.casadi::AutoDiffABA< _Scalar >::RowMatrixXs

Definition at line 160 of file casadi-algo.hpp.

◆ Scalar

template<typename _Scalar >

typedef Base::Scalar pinocchio.casadi::AutoDiffABA< _Scalar >::Scalar

Definition at line 157 of file casadi-algo.hpp.

◆ TangentVectorType

template<typename _Scalar >

typedef Base::TangentVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::TangentVectorType

Definition at line 159 of file casadi-algo.hpp.

◆ VectorXs

template<typename _Scalar >

typedef Base::VectorXs pinocchio.casadi::AutoDiffABA< _Scalar >::VectorXs

Definition at line 161 of file casadi-algo.hpp.

Constructor & Destructor Documentation

◆ AutoDiffABA()

template<typename _Scalar >

pinocchio.casadi::AutoDiffABA< _Scalar >::AutoDiffABA	(	const Model &	model,
		const std::string &	filename = `"casadi_aba"`,
		const std::string &	libname = `"libcasadi_cg_aba"`,
		const std::string &	fun_name = `"eval_f"`
	)

inlineexplicit

Definition at line 172 of file casadi-algo.hpp.

◆ ~AutoDiffABA()

template<typename _Scalar >

virtual pinocchio.casadi::AutoDiffABA< _Scalar >::~AutoDiffABA ( )

inlinevirtual

Definition at line 209 of file casadi-algo.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar >

virtual void pinocchio.casadi::AutoDiffABA< _Scalar >::buildMap ( )

inlinevirtual

build the mapping Y = f(X)

Implements pinocchio.casadi::AutoDiffAlgoBase< _Scalar >.

Definition at line 213 of file casadi-algo.hpp.

◆ evalFunction()

template<typename _Scalar >

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio.casadi::AutoDiffABA< _Scalar >::evalFunction	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	tau
	)

inline

Definition at line 234 of file casadi-algo.hpp.

◆ evalJacobian()

template<typename _Scalar >

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >

void pinocchio.casadi::AutoDiffABA< _Scalar >::evalJacobian	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	tau
	)

inline

Definition at line 248 of file casadi-algo.hpp.

Member Data Documentation

◆ ad_data

template<typename _Scalar >

ADData pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::ad_data

protected

Definition at line 138 of file casadi-algo.hpp.

◆ ad_fun

template<typename _Scalar >

ADFun pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::ad_fun

protected

Definition at line 147 of file casadi-algo.hpp.

◆ ad_fun_derivs

template<typename _Scalar >

ADFun pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::ad_fun_derivs

protected

Definition at line 147 of file casadi-algo.hpp.

◆ ad_model

template<typename _Scalar >

ADModel pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::ad_model

protected

Definition at line 137 of file casadi-algo.hpp.

◆ cg_generated

template<typename _Scalar >

::casadi::CodeGenerator pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::cg_generated

protected

Definition at line 140 of file casadi-algo.hpp.

◆ cs_ddq

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_ddq

protected

Definition at line 284 of file casadi-algo.hpp.

◆ cs_ddq_dq

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_ddq_dq

protected

Definition at line 287 of file casadi-algo.hpp.

◆ cs_ddq_dtau

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_ddq_dtau

protected

Definition at line 287 of file casadi-algo.hpp.

◆ cs_ddq_dv

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_ddq_dv

protected

Definition at line 287 of file casadi-algo.hpp.

◆ cs_q

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_q

protected

Definition at line 284 of file casadi-algo.hpp.

◆ cs_tau

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_tau

protected

Definition at line 284 of file casadi-algo.hpp.

◆ cs_v

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_v

protected

Definition at line 284 of file casadi-algo.hpp.

◆ cs_v_int

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffABA< _Scalar >::cs_v_int

protected

Definition at line 284 of file casadi-algo.hpp.

◆ ddq

template<typename _Scalar >

TangentVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::ddq

Definition at line 266 of file casadi-algo.hpp.

◆ ddq_dq

template<typename _Scalar >

RowMatrixXs pinocchio.casadi::AutoDiffABA< _Scalar >::ddq_dq

Definition at line 267 of file casadi-algo.hpp.

◆ ddq_dtau

template<typename _Scalar >

RowMatrixXs pinocchio.casadi::AutoDiffABA< _Scalar >::ddq_dtau

Definition at line 267 of file casadi-algo.hpp.

◆ ddq_dv

template<typename _Scalar >

RowMatrixXs pinocchio.casadi::AutoDiffABA< _Scalar >::ddq_dv

Definition at line 267 of file casadi-algo.hpp.

◆ filename

template<typename _Scalar >

std::string pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::filename

protected

Definition at line 139 of file casadi-algo.hpp.

◆ fun

template<typename _Scalar >

ADFun pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::fun

protected

Definition at line 148 of file casadi-algo.hpp.

◆ fun_derivs

template<typename _Scalar >

ADFun pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::fun_derivs

protected

Definition at line 148 of file casadi-algo.hpp.

◆ fun_name

template<typename _Scalar >

std::string pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::fun_name

protected

Definition at line 139 of file casadi-algo.hpp.

◆ fun_output

template<typename _Scalar >

std::vector<DMMatrix> pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::fun_output

protected

Definition at line 149 of file casadi-algo.hpp.

◆ fun_output_derivs

template<typename _Scalar >

std::vector<DMMatrix> pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::fun_output_derivs

protected

Definition at line 149 of file casadi-algo.hpp.

◆ libname

template<typename _Scalar >

std::string pinocchio.casadi::AutoDiffAlgoBase< _Scalar >::libname

protected

Definition at line 139 of file casadi-algo.hpp.

◆ q_ad

template<typename _Scalar >

ADConfigVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::q_ad

protected

Definition at line 289 of file casadi-algo.hpp.

◆ q_int_ad

template<typename _Scalar >

ADConfigVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::q_int_ad

protected

Definition at line 289 of file casadi-algo.hpp.

◆ q_vec

template<typename _Scalar >

std::vector<Scalar> pinocchio.casadi::AutoDiffABA< _Scalar >::q_vec

protected

Definition at line 292 of file casadi-algo.hpp.

◆ tau_ad

template<typename _Scalar >

ADTangentVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::tau_ad

protected

Definition at line 290 of file casadi-algo.hpp.

◆ tau_vec

template<typename _Scalar >

std::vector<Scalar> pinocchio.casadi::AutoDiffABA< _Scalar >::tau_vec

protected

Definition at line 292 of file casadi-algo.hpp.

◆ v_ad

template<typename _Scalar >

ADTangentVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::v_ad

protected

Definition at line 290 of file casadi-algo.hpp.

◆ v_int_ad

template<typename _Scalar >

ADTangentVectorType pinocchio.casadi::AutoDiffABA< _Scalar >::v_int_ad

protected

Definition at line 290 of file casadi-algo.hpp.

◆ v_int_vec

template<typename _Scalar >

std::vector<Scalar> pinocchio.casadi::AutoDiffABA< _Scalar >::v_int_vec

protected

Definition at line 292 of file casadi-algo.hpp.

◆ v_vec

template<typename _Scalar >

std::vector<Scalar> pinocchio.casadi::AutoDiffABA< _Scalar >::v_vec

protected

Definition at line 292 of file casadi-algo.hpp.

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

casadi-algo.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename _Scalar> struct pinocchio.casadi::AutoDiffABA< _Scalar >

Member Typedef Documentation

◆ ADConfigVectorType

◆ ADFun

◆ ADScalar

◆ ADSVector

◆ ADTangentVectorType

◆ Base

◆ DMMatrix

◆ DMVector

◆ MatrixXs

◆ RowMatrixXs

◆ Scalar

◆ TangentVectorType

◆ VectorXs

Constructor & Destructor Documentation

◆ AutoDiffABA()

◆ ~AutoDiffABA()

Member Function Documentation

◆ buildMap()

◆ evalFunction()

◆ evalJacobian()

Member Data Documentation

◆ ad_data

◆ ad_fun

◆ ad_fun_derivs

◆ ad_model

◆ cg_generated

◆ cs_ddq

◆ cs_ddq_dq

◆ cs_ddq_dtau

◆ cs_ddq_dv

◆ cs_q

◆ cs_tau

◆ cs_v

◆ cs_v_int

◆ ddq

◆ ddq_dq

◆ ddq_dtau

◆ ddq_dv

◆ filename

◆ fun

◆ fun_derivs

◆ fun_name

◆ fun_output

◆ fun_output_derivs

◆ libname

◆ q_ad

◆ q_int_ad

◆ q_vec

◆ tau_ad

◆ tau_vec

◆ v_ad

◆ v_int_ad

◆ v_int_vec

◆ v_vec

template<typename _Scalar>
struct pinocchio.casadi::AutoDiffABA< _Scalar >