Template Struct AutoDiffABADerivatives
Defined in File casadi-algo.hpp
Inheritance Relationships
Base Type
public pinocchio::casadi::AutoDiffAlgoBase< _Scalar >
(Template Struct AutoDiffAlgoBase)
Struct Documentation
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template<typename _Scalar>
struct AutoDiffABADerivatives : public pinocchio::casadi::AutoDiffAlgoBase<_Scalar> Public Types
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typedef AutoDiffAlgoBase<_Scalar> Base
Public Functions
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inline explicit AutoDiffABADerivatives(const Model &model, const std::string &filename = "casadi_abaDerivs", const std::string &libname = "libcasadi_cg_abaDerivs", const std::string &fun_name = "eval_f")
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inline virtual ~AutoDiffABADerivatives()
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inline virtual void buildMap()
build the mapping Y = f(X)
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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)
Protected Attributes
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ADConfigVectorType q_ad
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ADTangentVectorType v_ad
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ADTangentVectorType tau_ad
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ADData ad_data
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ADModel ad_model
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::casadi::CodeGenerator cg_generated
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std::string filename
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std::string fun_name
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std::string libname
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typedef AutoDiffAlgoBase<_Scalar> Base