Template Struct CodeGenConstraintDynamics
Defined in File code-generator-algo.hpp
Inheritance Relationships
Base Type
public pinocchio::CodeGenBase< _Scalar >
(Template Struct CodeGenBase)
Struct Documentation
-
template<typename _Scalar>
struct CodeGenConstraintDynamics : public pinocchio::CodeGenBase<_Scalar> Public Types
-
typedef CodeGenBase<_Scalar> Base
-
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
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)
Public Members
Protected Attributes
-
ADContactModelVector ad_contact_models
-
ADContactDataVector ad_contact_datas
-
Eigen::DenseIndex nc
-
ADConfigVectorType ad_q
-
ADTangentVectorType ad_v
-
ADTangentVectorType ad_tau
-
ADFun ad_fun
-
ADModel ad_model
-
ADVectorXs ad_X
-
ADVectorXs ad_Y
-
typedef CodeGenBase<_Scalar> Base