pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar > Struct Template Reference

#include <casadi-algo.hpp>

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

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType
typedef pinocchio::RigidConstraintDataTpl< ADScalar, Base::Options >	ADConstraintData
typedef Eigen::aligned_allocator< ADConstraintData >	ADConstraintDataAllocator
typedef std::vector< ADConstraintData, ADConstraintDataAllocator >	ADConstraintDataVector
typedef pinocchio::RigidConstraintModelTpl< ADScalar, Base::Options >	ADConstraintModel
typedef Eigen::aligned_allocator< ADConstraintModel >	ADConstraintModelAllocator
typedef std::vector< ADConstraintModel, ADConstraintModelAllocator >	ADConstraintModelVector
typedef Base::ADFun	ADFun
typedef Base::ADScalar	ADScalar
typedef Base::ADSVector	ADSVector
typedef Base::ADTangentVectorType	ADTangentVectorType
typedef AutoDiffAlgoBase< _Scalar >	Base
typedef pinocchio::RigidConstraintDataTpl< Scalar, Base::Options >	ConstraintData
typedef Eigen::aligned_allocator< ConstraintData >	ConstraintDataAllocator
typedef std::vector< ConstraintData, ConstraintDataAllocator >	ConstraintDataVector
typedef pinocchio::RigidConstraintModelTpl< Scalar, Base::Options >	ConstraintModel
typedef Eigen::aligned_allocator< ConstraintModel >	ConstraintModelAllocator
typedef std::vector< ConstraintModel, ConstraintModelAllocator >	ConstraintModelVector
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
	AutoDiffConstraintDynamicsDerivatives (const Model &model, const ConstraintModelVector &contact_models, const std::string &filename="casadi_contactDynDerivs", const std::string &libname="libcasadi_cg_contactDynDerivs", 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)
virtual	~AutoDiffConstraintDynamicsDerivatives ()
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 ()

Static Public Member Functions
static Eigen::DenseIndex	constraintDim (const ConstraintModelVector &contact_models)

Public Attributes
TangentVectorType	ddq
RowMatrixXs	ddq_dq
RowMatrixXs	ddq_dtau
RowMatrixXs	ddq_dv
RowMatrixXs	dlambda_dq
RowMatrixXs	dlambda_dtau
RowMatrixXs	dlambda_dv
TangentVectorType	lambda_c

Protected Attributes
ADConstraintDataVector	ad_contact_datas
ADConstraintModelVector	ad_contact_models
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_lambda_c
ADScalar	cs_lambda_dq
ADScalar	cs_lambda_dtau
ADScalar	cs_lambda_dv
ADScalar	cs_q
ADScalar	cs_tau
ADScalar	cs_v
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
Eigen::DenseIndex	nc
ADConfigVectorType	q_ad
std::vector< Scalar >	q_vec
ADTangentVectorType	tau_ad
std::vector< Scalar >	tau_vec
ADTangentVectorType	v_ad
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::AutoDiffConstraintDynamicsDerivatives< _Scalar >

Definition at line 624 of file casadi-algo.hpp.

Member Typedef Documentation

ADConfigVectorType

template<typename _Scalar >

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

Definition at line 639 of file casadi-algo.hpp.

ADConstraintData

template<typename _Scalar >

typedef pinocchio::RigidConstraintDataTpl<ADScalar, Base::Options> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ADConstraintData

Definition at line 654 of file casadi-algo.hpp.

ADConstraintDataAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ADConstraintData> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ADConstraintDataAllocator

Definition at line 655 of file casadi-algo.hpp.

ADConstraintDataVector

template<typename _Scalar >

typedef std::vector<ADConstraintData, ADConstraintDataAllocator> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ADConstraintDataVector

Definition at line 657 of file casadi-algo.hpp.

ADConstraintModel

template<typename _Scalar >

typedef pinocchio::RigidConstraintModelTpl<ADScalar, Base::Options> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ADConstraintModel

Definition at line 650 of file casadi-algo.hpp.

ADConstraintModelAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ADConstraintModel> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ADConstraintModelAllocator

Definition at line 651 of file casadi-algo.hpp.

ADConstraintModelVector

template<typename _Scalar >

typedef std::vector<ADConstraintModel, ADConstraintModelAllocator> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ADConstraintModelVector

Definition at line 653 of file casadi-algo.hpp.

ADFun

template<typename _Scalar >

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

Definition at line 636 of file casadi-algo.hpp.

ADScalar

template<typename _Scalar >

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

Definition at line 628 of file casadi-algo.hpp.

ADSVector

template<typename _Scalar >

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

Definition at line 629 of file casadi-algo.hpp.

ADTangentVectorType

template<typename _Scalar >

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

Definition at line 640 of file casadi-algo.hpp.

Base

template<typename _Scalar >

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

Definition at line 626 of file casadi-algo.hpp.

ConstraintData

template<typename _Scalar >

typedef pinocchio::RigidConstraintDataTpl<Scalar, Base::Options> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ConstraintData

Definition at line 645 of file casadi-algo.hpp.

ConstraintDataAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ConstraintData> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ConstraintDataAllocator

Definition at line 646 of file casadi-algo.hpp.

ConstraintDataVector

template<typename _Scalar >

typedef std::vector<ConstraintData, ConstraintDataAllocator> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ConstraintDataVector

Definition at line 647 of file casadi-algo.hpp.

ConstraintModel

template<typename _Scalar >

typedef pinocchio::RigidConstraintModelTpl<Scalar, Base::Options> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ConstraintModel

Definition at line 642 of file casadi-algo.hpp.

ConstraintModelAllocator

template<typename _Scalar >

typedef Eigen::aligned_allocator<ConstraintModel> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ConstraintModelAllocator

Definition at line 643 of file casadi-algo.hpp.

ConstraintModelVector

template<typename _Scalar >

typedef std::vector<ConstraintModel, ConstraintModelAllocator> pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ConstraintModelVector

Definition at line 644 of file casadi-algo.hpp.

DMMatrix

template<typename _Scalar >

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

Definition at line 638 of file casadi-algo.hpp.

DMVector

template<typename _Scalar >

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

Definition at line 637 of file casadi-algo.hpp.

MatrixXs

template<typename _Scalar >

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

Definition at line 634 of file casadi-algo.hpp.

RowMatrixXs

template<typename _Scalar >

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

Definition at line 632 of file casadi-algo.hpp.

Scalar

template<typename _Scalar >

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

Definition at line 627 of file casadi-algo.hpp.

TangentVectorType

template<typename _Scalar >

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

Definition at line 631 of file casadi-algo.hpp.

VectorXs

template<typename _Scalar >

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

Definition at line 633 of file casadi-algo.hpp.

Constructor & Destructor Documentation

AutoDiffConstraintDynamicsDerivatives()

template<typename _Scalar >

pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::AutoDiffConstraintDynamicsDerivatives ( const Model &  model, const ConstraintModelVector &  contact_models, const std::string &  filename = "casadi_contactDynDerivs", const std::string &  libname = "libcasadi_cg_contactDynDerivs", const std::string &  fun_name = "eval_f"  )

inlineexplicit

Definition at line 672 of file casadi-algo.hpp.

~AutoDiffConstraintDynamicsDerivatives()

template<typename _Scalar >

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

inlinevirtual

Definition at line 721 of file casadi-algo.hpp.

Member Function Documentation

buildMap()

template<typename _Scalar >

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

inlinevirtual

build the mapping Y = f(X)

Implements pinocchio.casadi::AutoDiffAlgoBase< _Scalar >.

Definition at line 725 of file casadi-algo.hpp.

constraintDim()

template<typename _Scalar >

static Eigen::DenseIndex pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::constraintDim ( const ConstraintModelVector &  contact_models )

inlinestatic

Definition at line 659 of file casadi-algo.hpp.

evalFunction()

template<typename _Scalar >

template<typename ConfigVectorType1 , typename TangentVectorType1 , typename TangentVectorType2 >

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

inline

Definition at line 750 of file casadi-algo.hpp.

Member Data Documentation

ad_contact_datas

template<typename _Scalar >

ADConstraintDataVector pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ad_contact_datas

protected

Definition at line 795 of file casadi-algo.hpp.

ad_contact_models

template<typename _Scalar >

ADConstraintModelVector pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::ad_contact_models

protected

Definition at line 794 of file casadi-algo.hpp.

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::AutoDiffConstraintDynamicsDerivatives< _Scalar >::cs_ddq

protected

Definition at line 798 of file casadi-algo.hpp.

cs_ddq_dq

template<typename _Scalar >

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

protected

Definition at line 801 of file casadi-algo.hpp.

cs_ddq_dtau

template<typename _Scalar >

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

protected

Definition at line 801 of file casadi-algo.hpp.

cs_ddq_dv

template<typename _Scalar >

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

protected

Definition at line 801 of file casadi-algo.hpp.

cs_lambda_c

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::cs_lambda_c

protected

Definition at line 798 of file casadi-algo.hpp.

cs_lambda_dq

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::cs_lambda_dq

protected

Definition at line 801 of file casadi-algo.hpp.

cs_lambda_dtau

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::cs_lambda_dtau

protected

Definition at line 801 of file casadi-algo.hpp.

cs_lambda_dv

template<typename _Scalar >

ADScalar pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::cs_lambda_dv

protected

Definition at line 801 of file casadi-algo.hpp.

cs_q

template<typename _Scalar >

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

protected

Definition at line 798 of file casadi-algo.hpp.

cs_tau

template<typename _Scalar >

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

protected

Definition at line 798 of file casadi-algo.hpp.

cs_v

template<typename _Scalar >

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

protected

Definition at line 798 of file casadi-algo.hpp.

ddq

template<typename _Scalar >

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

Definition at line 777 of file casadi-algo.hpp.

ddq_dq

template<typename _Scalar >

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

Definition at line 778 of file casadi-algo.hpp.

ddq_dtau

template<typename _Scalar >

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

Definition at line 778 of file casadi-algo.hpp.

ddq_dv

template<typename _Scalar >

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

Definition at line 778 of file casadi-algo.hpp.

dlambda_dq

template<typename _Scalar >

RowMatrixXs pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::dlambda_dq

Definition at line 778 of file casadi-algo.hpp.

dlambda_dtau

template<typename _Scalar >

RowMatrixXs pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::dlambda_dtau

Definition at line 778 of file casadi-algo.hpp.

dlambda_dv

template<typename _Scalar >

RowMatrixXs pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::dlambda_dv

Definition at line 778 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.

lambda_c

template<typename _Scalar >

TangentVectorType pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::lambda_c

Definition at line 777 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.

nc

template<typename _Scalar >

Eigen::DenseIndex pinocchio.casadi::AutoDiffConstraintDynamicsDerivatives< _Scalar >::nc

protected

Definition at line 797 of file casadi-algo.hpp.

q_ad

template<typename _Scalar >

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

protected

Definition at line 803 of file casadi-algo.hpp.

q_vec

template<typename _Scalar >

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

protected

Definition at line 806 of file casadi-algo.hpp.

tau_ad

template<typename _Scalar >

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

protected

Definition at line 804 of file casadi-algo.hpp.

tau_vec

template<typename _Scalar >

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

protected

Definition at line 806 of file casadi-algo.hpp.

v_ad

template<typename _Scalar >

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

protected

Definition at line 804 of file casadi-algo.hpp.

v_vec

template<typename _Scalar >

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

protected

Definition at line 806 of file casadi-algo.hpp.

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

• casadi-algo.hpp