Inheritance diagram for CodeGenABA< _Scalar >:

Collaboration diagram for CodeGenABA< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType
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 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
	CodeGenABA (const Model &model, const std::string &function_name="aba", const std::string &library_name="cg_aba_eval")
void	buildMap ()
	build the mapping Y = f(X)
template<typename ConfigVectorType, typename TangentVector1, typename TangentVector2>
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &tau)
template<typename Vector>
void	evalFunction (const Eigen::MatrixBase< Vector > &x)
template<typename ConfigVectorType, typename TangentVector1, typename TangentVector2>
void	evalJacobian (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVector1 > &v, const Eigen::MatrixBase< TangentVector2 > &tau)
template<typename Vector>
void	evalJacobian (const Eigen::MatrixBase< Vector > &x)
Public Member Functions inherited from 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	compileAndLoadLib (const std::string &gcc_path)
void	compileLib (const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast")
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.
Eigen::DenseIndex	getOutputDimension () const
	Dimension of the output vector.
void	initLib ()
void	loadLib (const bool generate_if_not_exist=true, const std::string &gcc_path="/usr/bin/gcc", const std::string &compile_options="-Ofast")

Public Attributes
MatrixXs	da_dq
MatrixXs	da_dtau
MatrixXs	da_dv

Protected Attributes
ADData	ad_data
ADTangentVectorType	ad_dq
ADFun	ad_fun
ADModel	ad_model
ADConfigVectorType	ad_q
ADConfigVectorType	ad_q_plus
ADTangentVectorType	ad_tau
ADTangentVectorType	ad_v
ADVectorXs	ad_X
ADVectorXs	ad_Y
RowMatrixXs	jac
VectorXs	res
VectorXs	x
VectorXs	y
Protected Attributes inherited from 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.
bool	build_jacobian
	Options to build or not the Jacobian of he function.
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.
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.
VectorXs	y

Detailed Description

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

Definition at line 142 of file code-generator-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar>

typedef Base::ADConfigVectorType ADConfigVectorType

Definition at line 148 of file code-generator-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar>

typedef Base::ADTangentVectorType ADTangentVectorType

Definition at line 149 of file code-generator-algo.hpp.

◆ Base

template<typename _Scalar>

typedef CodeGenBase<_Scalar> Base

Definition at line 144 of file code-generator-algo.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef Base::MatrixXs MatrixXs

Definition at line 150 of file code-generator-algo.hpp.

◆ Model

template<typename _Scalar>

typedef Base::Model Model

Definition at line 147 of file code-generator-algo.hpp.

◆ Scalar

template<typename _Scalar>

typedef Base::Scalar Scalar

Definition at line 145 of file code-generator-algo.hpp.

◆ VectorXs

template<typename _Scalar>

typedef Base::VectorXs VectorXs

Definition at line 151 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

◆ CodeGenABA()

template<typename _Scalar>

CodeGenABA	(	const Model &	model,
		const std::string &	function_name = "aba",
		const std::string &	library_name = "cg_aba_eval" )

inline

Definition at line 153 of file code-generator-algo.hpp.

◆ ~CodeGenABA()

template<typename _Scalar>

virtual ~CodeGenABA ( )

inlinevirtual

Definition at line 173 of file code-generator-algo.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar>

void buildMap ( )

inlinevirtual

build the mapping Y = f(X)

Implements CodeGenBase< _Scalar >.

Definition at line 177 of file code-generator-algo.hpp.

◆ evalFunction() [1/2]

template<typename _Scalar>

template<typename ConfigVectorType, typename TangentVector1, typename TangentVector2>

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

inline

Definition at line 198 of file code-generator-algo.hpp.

◆ evalFunction() [2/2]

template<typename _Scalar>

template<typename Vector>

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

inline

Definition at line 151 of file code-generator-base.hpp.

◆ evalJacobian() [1/2]

template<typename _Scalar>

template<typename ConfigVectorType, typename TangentVector1, typename TangentVector2>

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

inline

Definition at line 218 of file code-generator-algo.hpp.

◆ evalJacobian() [2/2]

template<typename _Scalar>

template<typename Vector>

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

inline

Definition at line 159 of file code-generator-base.hpp.

Member Data Documentation

◆ ad_data

template<typename _Scalar>

ADData ad_data

protected

Definition at line 182 of file code-generator-base.hpp.

◆ ad_dq

template<typename _Scalar>

ADTangentVectorType ad_dq

protected

Definition at line 258 of file code-generator-algo.hpp.

◆ ad_fun

template<typename _Scalar>

ADFun ad_fun

protected

Definition at line 196 of file code-generator-base.hpp.

◆ ad_model

template<typename _Scalar>

ADModel ad_model

protected

Definition at line 181 of file code-generator-base.hpp.

◆ ad_q

template<typename _Scalar>

ADConfigVectorType ad_q

protected

Definition at line 257 of file code-generator-algo.hpp.

◆ ad_q_plus

template<typename _Scalar>

ADConfigVectorType ad_q_plus

protected

Definition at line 257 of file code-generator-algo.hpp.

◆ ad_tau

template<typename _Scalar>

ADTangentVectorType ad_tau

protected

Definition at line 258 of file code-generator-algo.hpp.

◆ ad_v

template<typename _Scalar>

ADTangentVectorType ad_v

protected

Definition at line 258 of file code-generator-algo.hpp.

◆ ad_X

template<typename _Scalar>

ADVectorXs ad_X

protected

Definition at line 195 of file code-generator-base.hpp.

◆ ad_Y

template<typename _Scalar>

ADVectorXs ad_Y

protected

Definition at line 195 of file code-generator-base.hpp.

◆ da_dq

template<typename _Scalar>

MatrixXs da_dq

Definition at line 243 of file code-generator-algo.hpp.

◆ da_dtau

template<typename _Scalar>

MatrixXs da_dtau

Definition at line 243 of file code-generator-algo.hpp.

◆ da_dv

template<typename _Scalar>

MatrixXs da_dv

Definition at line 243 of file code-generator-algo.hpp.

◆ jac

template<typename _Scalar>

RowMatrixXs jac

protected

Definition at line 202 of file code-generator-base.hpp.

◆ res

template<typename _Scalar>

VectorXs res

protected

Definition at line 255 of file code-generator-algo.hpp.

◆ x

template<typename _Scalar>

VectorXs x

protected

Definition at line 254 of file code-generator-algo.hpp.

◆ y

template<typename _Scalar>

VectorXs y

protected

Definition at line 201 of file code-generator-base.hpp.

The documentation for this struct was generated from the following file:

include/pinocchio/codegen/code-generator-algo.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ADConfigVectorType

◆ ADTangentVectorType

◆ Base

◆ MatrixXs

◆ Model

◆ Scalar

◆ VectorXs

Constructor & Destructor Documentation

◆ CodeGenABA()

◆ ~CodeGenABA()

Member Function Documentation

◆ buildMap()

◆ evalFunction() [1/2]

◆ evalFunction() [2/2]

◆ evalJacobian() [1/2]

◆ evalJacobian() [2/2]

Member Data Documentation

◆ ad_data

◆ ad_dq

◆ ad_fun

◆ ad_model

◆ ad_q

◆ ad_q_plus

◆ ad_tau

◆ ad_v

◆ ad_X

◆ ad_Y

◆ da_dq

◆ da_dtau

◆ da_dv

◆ jac

◆ res

◆ x

◆ y