#include <code-generator-algo.hpp>

Inheritance diagram for pinocchio::CodeGenABADerivatives< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType

typedef Base::ADData	ADData

typedef ADData::MatrixXs	ADMatrixXs

typedef Base::ADTangentVectorType	ADTangentVectorType

typedef CodeGenBase< _Scalar >	Base

typedef Base::MatrixXs	MatrixXs

typedef Base::Model	Model

typedef Base::Scalar	Scalar

typedef Base::VectorXs	VectorXs

Public Types inherited from pinocchio::CodeGenBase< _Scalar >
enum	{ Options = 0 }

typedef ADModel::ConfigVectorType	ADConfigVectorType

typedef pinocchio::DataTpl< ADScalar, Options >	ADData

typedef CppAD::ADFun< CGScalar >	ADFun

typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options >	ADMatrixXs

typedef pinocchio::ModelTpl< ADScalar, Options >	ADModel

typedef CppAD::AD< CGScalar >	ADScalar

typedef ADModel::TangentVectorType	ADTangentVectorType

typedef Eigen::Matrix< ADScalar, Eigen::Dynamic, 1, Options >	ADVectorXs

typedef pinocchio::DataTpl< CGScalar, Options >	CGData

typedef pinocchio::ModelTpl< CGScalar, Options >	CGModel

typedef CppAD::cg::CG< Scalar >	CGScalar

typedef Model::ConfigVectorType	ConfigVectorType

typedef pinocchio::DataTpl< Scalar, Options >	Data

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXs

typedef pinocchio::ModelTpl< Scalar, Options >	Model

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options\|Eigen::RowMajor >	RowMatrixXs

typedef _Scalar	Scalar

typedef Model::TangentVectorType	TangentVectorType

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options >	VectorXs

Public Member Functions
void	buildMap ()
	build the mapping Y = f(X) More...

	CodeGenABADerivatives (const Model &model, const std::string &function_name="partial_aba", const std::string &library_name="cg_partial_aba_eval")

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

typedef	PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (MatrixXs) RowMatrixXs

typedef	PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (ADMatrixXs) RowADMatrixXs

Public Member Functions inherited from pinocchio::CodeGenBase< _Scalar >
	CodeGenBase (const Model &model, const Eigen::DenseIndex dim_input, const Eigen::DenseIndex dim_output, const std::string &function_name, const std::string &library_name)

CppAD::cg::ModelCSourceGen< Scalar > &	codeGenerator ()

void	compileLib ()

template<typename Vector >
void	evalFunction (const Eigen::MatrixBase< Vector > &x)

template<typename Vector >
void	evalJacobian (const Eigen::MatrixBase< Vector > &x)

bool	existLib () const

Eigen::DenseIndex	getInputDimension () const
	Dimension of the input vector. More...

Eigen::DenseIndex	getOutputDimension () const
	Dimension of the output vector. More...

void	initLib ()

void	loadLib (const bool generate_if_not_exist=true)

Protected Attributes
ADMatrixXs	ad_dddq_dq

ADMatrixXs	ad_dddq_dtau

ADMatrixXs	ad_dddq_dv

ADConfigVectorType	ad_q

ADTangentVectorType	ad_tau

ADTangentVectorType	ad_v

MatrixXs	dddq_dq

MatrixXs	dddq_dtau

MatrixXs	dddq_dv

VectorXs	partial_derivatives

VectorXs	x

Protected Attributes inherited from pinocchio::CodeGenBase< _Scalar >
ADTangentVectorType	ad_a

ADData	ad_data

ADTangentVectorType	ad_dq

ADFun	ad_fun

ADModel	ad_model

ADConfigVectorType	ad_q

ADConfigVectorType	ad_q_plus

ADTangentVectorType	ad_v

ADVectorXs	ad_X

ADVectorXs	ad_Y

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...

std::unique_ptr< CppAD::cg::ModelCSourceGen< Scalar > >	cgen_ptr

std::unique_ptr< CppAD::cg::DynamicLib< Scalar > >	dynamicLib_ptr

std::unique_ptr< CppAD::cg::DynamicModelLibraryProcessor< Scalar > >	dynamicLibManager_ptr

const std::string	function_name
	Name of the function. More...

std::unique_ptr< CppAD::cg::GenericModel< Scalar > >	generatedFun_ptr

RowMatrixXs	jac

std::unique_ptr< CppAD::cg::ModelLibraryCSourceGen< Scalar > >	libcgen_ptr

const std::string	library_name
	Name of the library. More...

VectorXs	y

Detailed Description

template<typename _Scalar>
struct pinocchio::CodeGenABADerivatives< _Scalar >

Definition at line 502 of file code-generator-algo.hpp.

Member Typedef Documentation

template<typename _Scalar>

typedef Base::ADConfigVectorType pinocchio::CodeGenABADerivatives< _Scalar >::ADConfigVectorType

Definition at line 508 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef Base::ADData pinocchio::CodeGenABADerivatives< _Scalar >::ADData

Definition at line 514 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef ADData::MatrixXs pinocchio::CodeGenABADerivatives< _Scalar >::ADMatrixXs

Definition at line 515 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef Base::ADTangentVectorType pinocchio::CodeGenABADerivatives< _Scalar >::ADTangentVectorType

Definition at line 509 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef CodeGenBase<_Scalar> pinocchio::CodeGenABADerivatives< _Scalar >::Base

Definition at line 504 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef Base::MatrixXs pinocchio::CodeGenABADerivatives< _Scalar >::MatrixXs

Definition at line 510 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef Base::Model pinocchio::CodeGenABADerivatives< _Scalar >::Model

Definition at line 507 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef Base::Scalar pinocchio::CodeGenABADerivatives< _Scalar >::Scalar

Definition at line 505 of file code-generator-algo.hpp.

template<typename _Scalar>

typedef Base::VectorXs pinocchio::CodeGenABADerivatives< _Scalar >::VectorXs

Definition at line 512 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

template<typename _Scalar>

pinocchio::CodeGenABADerivatives< _Scalar >::CodeGenABADerivatives	(	const Model &	model,
		const std::string &	function_name = `"partial_aba"`,
		const std::string &	library_name = `"cg_partial_aba_eval"`
	)

inline

Definition at line 518 of file code-generator-algo.hpp.

Member Function Documentation

template<typename _Scalar>

void pinocchio::CodeGenABADerivatives< _Scalar >::buildMap ( )

inlinevirtual

build the mapping Y = f(X)

Implements pinocchio::CodeGenBase< _Scalar >.

Definition at line 541 of file code-generator-algo.hpp.

template<typename _Scalar>

template<typename ConfigVectorType , typename TangentVector1 , typename TangentVector2 >

void pinocchio::CodeGenABADerivatives< _Scalar >::evalFunction	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVector1 > &	v,
		const Eigen::MatrixBase< TangentVector2 > &	tau
	)