Template Struct AutoDiffConstraintDynamicsDerivatives
Defined in File casadi-algo.hpp
Inheritance Relationships
Base Type
public pinocchio::casadi::AutoDiffAlgoBase< _Scalar >
(Template Struct AutoDiffAlgoBase)
Struct Documentation
-
template<typename _Scalar>
struct AutoDiffConstraintDynamicsDerivatives : public pinocchio::casadi::AutoDiffAlgoBase<_Scalar> Public Types
-
typedef AutoDiffAlgoBase<_Scalar> Base
-
typedef pinocchio::RigidConstraintModelTpl<Scalar, Base::Options> ConstraintModel
-
typedef Eigen::aligned_allocator<ConstraintModel> ConstraintModelAllocator
-
typedef std::vector<ConstraintModel, ConstraintModelAllocator> ConstraintModelVector
-
typedef pinocchio::RigidConstraintDataTpl<Scalar, Base::Options> ConstraintData
-
typedef Eigen::aligned_allocator<ConstraintData> ConstraintDataAllocator
-
typedef std::vector<ConstraintData, ConstraintDataAllocator> ConstraintDataVector
-
typedef pinocchio::RigidConstraintModelTpl<ADScalar, Base::Options> ADConstraintModel
-
typedef Eigen::aligned_allocator<ADConstraintModel> ADConstraintModelAllocator
-
typedef std::vector<ADConstraintModel, ADConstraintModelAllocator> ADConstraintModelVector
-
typedef pinocchio::RigidConstraintDataTpl<ADScalar, Base::Options> ADConstraintData
-
typedef Eigen::aligned_allocator<ADConstraintData> ADConstraintDataAllocator
-
typedef std::vector<ADConstraintData, ADConstraintDataAllocator> ADConstraintDataVector
Public Functions
-
inline explicit 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")
-
inline virtual ~AutoDiffConstraintDynamicsDerivatives()
-
inline virtual void buildMap()
build the mapping Y = f(X)
-
template<typename ConfigVectorType1, typename TangentVectorType1, typename TangentVectorType2>
inline void evalFunction(const Eigen::MatrixBase<ConfigVectorType1> &q, const Eigen::MatrixBase<TangentVectorType1> &v, const Eigen::MatrixBase<TangentVectorType2> &tau)
Public Members
-
TangentVectorType lambda_c
-
RowMatrixXs ddq_dq
-
RowMatrixXs ddq_dv
-
RowMatrixXs ddq_dtau
-
RowMatrixXs dlambda_dq
-
RowMatrixXs dlambda_dv
-
RowMatrixXs dlambda_dtau
Public Static Functions
-
static inline Eigen::DenseIndex constraintDim(const ConstraintModelVector &contact_models)
Protected Attributes
-
ADConstraintModelVector ad_contact_models
-
ADConstraintDataVector ad_contact_datas
-
Eigen::DenseIndex nc
-
ADConfigVectorType q_ad
-
ADTangentVectorType v_ad
-
ADTangentVectorType tau_ad
-
ADData ad_data
-
ADModel ad_model
-
::casadi::CodeGenerator cg_generated
-
std::string filename
-
std::string fun_name
-
std::string libname
-
typedef AutoDiffAlgoBase<_Scalar> Base