pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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CodeGenBase< _Scalar > Struct Template Referenceabstract
Inheritance diagram for CodeGenBase< _Scalar >:
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Collaboration diagram for CodeGenBase< _Scalar >:
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Public Types

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

 CodeGenBase (const Model &model, const Eigen::DenseIndex dim_input, const Eigen::DenseIndex dim_output, const std::string &function_name, const std::string &library_name)
virtual void buildMap ()=0
 build the mapping Y = f(X)
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")

Protected Attributes

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::CodeGenBase< _Scalar >

Definition at line 17 of file code-generator-base.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar>
typedef ADModel::ConfigVectorType ADConfigVectorType

Definition at line 45 of file code-generator-base.hpp.

◆ ADData

template<typename _Scalar>
typedef pinocchio::DataTpl<ADScalar, Options> ADData

Definition at line 33 of file code-generator-base.hpp.

◆ ADFun

template<typename _Scalar>
typedef CppAD::ADFun<CGScalar> ADFun

Definition at line 48 of file code-generator-base.hpp.

◆ ADMatrixXs

template<typename _Scalar>
typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options> ADMatrixXs

Definition at line 40 of file code-generator-base.hpp.

◆ ADModel

template<typename _Scalar>
typedef pinocchio::ModelTpl<ADScalar, Options> ADModel

Definition at line 32 of file code-generator-base.hpp.

◆ ADScalar

template<typename _Scalar>
typedef CppAD::AD<CGScalar> ADScalar

Definition at line 21 of file code-generator-base.hpp.

◆ ADTangentVectorType

template<typename _Scalar>
typedef ADModel::TangentVectorType ADTangentVectorType

Definition at line 46 of file code-generator-base.hpp.

◆ ADVectorXs

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

Definition at line 39 of file code-generator-base.hpp.

◆ CGData

template<typename _Scalar>
typedef pinocchio::DataTpl<CGScalar, Options> CGData

Definition at line 31 of file code-generator-base.hpp.

◆ CGModel

template<typename _Scalar>
typedef pinocchio::ModelTpl<CGScalar, Options> CGModel

Definition at line 30 of file code-generator-base.hpp.

◆ CGScalar

template<typename _Scalar>
typedef CppAD::cg::CG<Scalar> CGScalar

Definition at line 20 of file code-generator-base.hpp.

◆ ConfigVectorType

template<typename _Scalar>
typedef Model::ConfigVectorType ConfigVectorType

Definition at line 42 of file code-generator-base.hpp.

◆ Data

template<typename _Scalar>
typedef pinocchio::DataTpl<Scalar, Options> Data

Definition at line 29 of file code-generator-base.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs

Definition at line 35 of file code-generator-base.hpp.

◆ Model

template<typename _Scalar>
typedef pinocchio::ModelTpl<Scalar, Options> Model

Definition at line 28 of file code-generator-base.hpp.

◆ RowMatrixXs

template<typename _Scalar>
typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options | Eigen::RowMajor> RowMatrixXs

Definition at line 38 of file code-generator-base.hpp.

◆ Scalar

template<typename _Scalar>
typedef _Scalar Scalar

Definition at line 19 of file code-generator-base.hpp.

◆ TangentVectorType

template<typename _Scalar>
typedef Model::TangentVectorType TangentVectorType

Definition at line 43 of file code-generator-base.hpp.

◆ VectorXs

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

Definition at line 36 of file code-generator-base.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar>
anonymous enum

Definition at line 23 of file code-generator-base.hpp.

Constructor & Destructor Documentation

◆ CodeGenBase()

template<typename _Scalar>
CodeGenBase(const Model &model,
const Eigen::DenseIndexdim_input,
const Eigen::DenseIndexdim_output,
const std::string &function_name,
const std::string &library_name )
inline

Definition at line 50 of file code-generator-base.hpp.

◆ ~CodeGenBase()

template<typename _Scalar>
virtual ~CodeGenBase()
inlinevirtual

Definition at line 71 of file code-generator-base.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar>
virtual void buildMap()
pure virtual

build the mapping Y = f(X)

Implemented in CodeGenABA< _Scalar >, CodeGenABADerivatives< _Scalar >, CodeGenConstraintDynamics< _Scalar >, CodeGenConstraintDynamicsDerivatives< _Scalar >, CodeGenCRBA< _Scalar >, CodeGenDDifference< _Scalar >, CodeGenDifference< _Scalar >, CodeGenIntegrate< _Scalar >, CodeGenMinv< _Scalar >, CodeGenRNEA< _Scalar >, and CodeGenRNEADerivatives< _Scalar >.

◆ codeGenerator()

template<typename _Scalar>
CppAD::cg::ModelCSourceGen< Scalar > & codeGenerator()
inline

Definition at line 94 of file code-generator-base.hpp.

◆ compileAndLoadLib()

template<typename _Scalar>
void compileAndLoadLib(const std::string &gcc_path)
inline

Definition at line 117 of file code-generator-base.hpp.

◆ compileLib()

template<typename _Scalar>
void compileLib(const std::string &gcc_path = "/usr/bin/gcc",
const std::string &compile_options = "-Ofast" )
inline

Definition at line 99 of file code-generator-base.hpp.

◆ evalFunction()

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()

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

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

◆ existLib()

template<typename _Scalar>
bool existLib()const
inline

Definition at line 109 of file code-generator-base.hpp.

◆ getInputDimension()

template<typename _Scalar>
Eigen::DenseIndex getInputDimension()const
inline

Dimension of the input vector.

Definition at line 170 of file code-generator-base.hpp.

◆ getOutputDimension()

template<typename _Scalar>
Eigen::DenseIndex getOutputDimension()const
inline

Dimension of the output vector.

Definition at line 175 of file code-generator-base.hpp.

◆ initLib()

template<typename _Scalar>
void initLib()
inline

Definition at line 78 of file code-generator-base.hpp.

◆ loadLib()

template<typename _Scalar>
void loadLib(const boolgenerate_if_not_exist = true,
const std::string &gcc_path = "/usr/bin/gcc",
const std::string &compile_options = "-Ofast" )
inline

Definition at line 123 of file code-generator-base.hpp.

Member Data Documentation

◆ ad_a

template<typename _Scalar>
ADTangentVectorType ad_a
protected

Definition at line 199 of file code-generator-base.hpp.

◆ 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 199 of file code-generator-base.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 198 of file code-generator-base.hpp.

◆ ad_q_plus

template<typename _Scalar>
ADConfigVectorType ad_q_plus
protected

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

◆ ad_v

template<typename _Scalar>
ADTangentVectorType ad_v
protected

Definition at line 199 of file code-generator-base.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.

◆ build_forward

template<typename _Scalar>
bool build_forward
protected

Options to generate or not the source code for the evaluation function.

Definition at line 190 of file code-generator-base.hpp.

◆ build_jacobian

template<typename _Scalar>
bool build_jacobian
protected

Options to build or not the Jacobian of he function.

Definition at line 193 of file code-generator-base.hpp.

◆ cgen_ptr

template<typename _Scalar>
std::unique_ptr<CppAD::cg::ModelCSourceGen<Scalar> > cgen_ptr
protected

Definition at line 204 of file code-generator-base.hpp.

◆ dynamicLib_ptr

template<typename _Scalar>
std::unique_ptr<CppAD::cg::DynamicLib<Scalar> > dynamicLib_ptr
protected

Definition at line 207 of file code-generator-base.hpp.

◆ dynamicLibManager_ptr

template<typename _Scalar>
std::unique_ptr<CppAD::cg::DynamicModelLibraryProcessor<Scalar> > dynamicLibManager_ptr
protected

Definition at line 206 of file code-generator-base.hpp.

◆ function_name

template<typename _Scalar>
const std::string function_name
protected

Name of the function.

Definition at line 185 of file code-generator-base.hpp.

◆ generatedFun_ptr

template<typename _Scalar>
std::unique_ptr<CppAD::cg::GenericModel<Scalar> > generatedFun_ptr
protected

Definition at line 208 of file code-generator-base.hpp.

◆ jac

template<typename _Scalar>
RowMatrixXs jac
protected

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

◆ libcgen_ptr

template<typename _Scalar>
std::unique_ptr<CppAD::cg::ModelLibraryCSourceGen<Scalar> > libcgen_ptr
protected

Definition at line 205 of file code-generator-base.hpp.

◆ library_name

template<typename _Scalar>
const std::string library_name
protected

Name of the library.

Definition at line 187 of file code-generator-base.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: