Template Struct CodeGenConstraintDynamics

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar>
struct CodeGenConstraintDynamics : public pinocchio::CodeGenBase<_Scalar>

Public Types

typedef CodeGenBase<_Scalar> Base
typedef Base::Scalar Scalar
typedef Base::ADScalar ADScalar
typedef Base::Model Model
typedef Base::ADConfigVectorType ADConfigVectorType
typedef Base::ADTangentVectorType ADTangentVectorType
typedef Base::MatrixXs MatrixXs
typedef Base::VectorXs VectorXs
typedef pinocchio::RigidConstraintModelTpl<Scalar, Base::Options> ContactModel
typedef Eigen::aligned_allocator<ContactModel> ConstraintModelAllocator
typedef std::vector<ContactModel, ConstraintModelAllocator> ContactModelVector
typedef pinocchio::RigidConstraintDataTpl<Scalar, Base::Options> ContactData
typedef Eigen::aligned_allocator<ContactData> ConstraintDataAllocator
typedef std::vector<ContactData, ConstraintDataAllocator> ContactDataVector
typedef pinocchio::RigidConstraintModelTpl<ADScalar, Base::Options> ADContactModel
typedef Eigen::aligned_allocator<ADContactModel> ADConstraintModelAllocator
typedef std::vector<ADContactModel, ADConstraintModelAllocator> ADContactModelVector
typedef pinocchio::RigidConstraintDataTpl<ADScalar, Base::Options> ADContactData
typedef Eigen::aligned_allocator<ADContactData> ADConstraintDataAllocator
typedef std::vector<ADContactData, ADConstraintDataAllocator> ADContactDataVector
typedef Base::ADData ADData
typedef ADData::MatrixXs ADMatrixXs

Public Functions

typedef PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (MatrixXs) RowMatrixXs
typedef PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (ADMatrixXs) RowADMatrixXs
inline Eigen::DenseIndex constraintDim(const ContactModelVector &contact_models) const
inline CodeGenConstraintDynamics(const Model &model, const ContactModelVector &contact_models, const std::string &function_name = "constraintDynamics", const std::string &library_name = "cg_constraintDynamics_eval")
inline virtual ~CodeGenConstraintDynamics()
inline virtual void buildMap()

build the mapping Y = f(X)

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

Public Members

VectorXs lambda_c
VectorXs ddq
MatrixXs da_dq
MatrixXs da_dv
MatrixXs da_dtau
MatrixXs dlambda_dq
MatrixXs dlambda_dv
MatrixXs dlambda_dtau

Protected Attributes

ADContactModelVector ad_contact_models
ADContactDataVector ad_contact_datas
Eigen::DenseIndex nc
VectorXs x
ADConfigVectorType ad_q
ADTangentVectorType ad_v
ADTangentVectorType ad_tau
ADData ad_data
ADFun ad_fun
ADModel ad_model
ADVectorXs ad_X
ADVectorXs ad_Y
VectorXs y