Inheritance diagram for CodeGenDDifference< _Scalar >:

Collaboration diagram for CodeGenDDifference< _Scalar >:

Public Types
typedef Base::ADConfigVectorType	ADConfigVectorType
typedef Base::ADMatrixXs	ADMatrixXs
typedef Base::ADTangentVectorType	ADTangentVectorType
typedef Base::ADVectorXs	ADVectorXs
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
	CodeGenDDifference (const Model &model, const std::string &function_name="dDifference", const std::string &library_name="cg_dDifference_eval")
void	buildMap ()
	build the mapping Y = f(X)
template<typename ConfigVectorType1, typename ConfigVectorType2, typename JacobianMatrix>
void	evalFunction (const Eigen::MatrixBase< ConfigVectorType1 > &q0, const Eigen::MatrixBase< ConfigVectorType2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
template<typename Vector>
void	evalFunction (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")

Protected Attributes
ADFun	ad_fun
ADMatrixXs	ad_J0
ADMatrixXs	ad_J1
ADModel	ad_model
ADConfigVectorType	ad_q0
ADConfigVectorType	ad_q1
ADVectorXs	ad_X
ADVectorXs	ad_Y
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::CodeGenDDifference< _Scalar >

Definition at line 1206 of file code-generator-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar>

typedef Base::ADConfigVectorType ADConfigVectorType

Definition at line 1212 of file code-generator-algo.hpp.

◆ ADMatrixXs

template<typename _Scalar>

typedef Base::ADMatrixXs ADMatrixXs

Definition at line 1215 of file code-generator-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar>

typedef Base::ADTangentVectorType ADTangentVectorType

Definition at line 1213 of file code-generator-algo.hpp.

◆ ADVectorXs

template<typename _Scalar>

typedef Base::ADVectorXs ADVectorXs

Definition at line 1214 of file code-generator-algo.hpp.

◆ Base

template<typename _Scalar>

typedef CodeGenBase<_Scalar> Base

Definition at line 1208 of file code-generator-algo.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef Base::MatrixXs MatrixXs

Definition at line 1216 of file code-generator-algo.hpp.

◆ Model

template<typename _Scalar>

typedef Base::Model Model

Definition at line 1211 of file code-generator-algo.hpp.

◆ Scalar

template<typename _Scalar>

typedef Base::Scalar Scalar

Definition at line 1209 of file code-generator-algo.hpp.

◆ VectorXs

template<typename _Scalar>

typedef Base::VectorXs VectorXs

Definition at line 1217 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

◆ CodeGenDDifference()

template<typename _Scalar>

CodeGenDDifference	(	const Model &	model,
		const std::string &	function_name = "dDifference",
		const std::string &	library_name = "cg_dDifference_eval" )

inline

Definition at line 1219 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 1232 of file code-generator-algo.hpp.

◆ evalFunction() [1/2]

template<typename _Scalar>

template<typename ConfigVectorType1, typename ConfigVectorType2, typename JacobianMatrix>

void evalFunction	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q0,
		const Eigen::MatrixBase< ConfigVectorType2 > &	q1,
		const Eigen::MatrixBase< JacobianMatrix > &	J,
		const ArgumentPosition	arg )

inline

Definition at line 1253 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.

Member Data Documentation

◆ ad_fun

template<typename _Scalar>

ADFun ad_fun

protected

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

◆ ad_J0

template<typename _Scalar>

ADMatrixXs ad_J0

protected

Definition at line 1292 of file code-generator-algo.hpp.

◆ ad_J1

template<typename _Scalar>

ADMatrixXs ad_J1

protected

Definition at line 1293 of file code-generator-algo.hpp.

◆ ad_model

template<typename _Scalar>

ADModel ad_model

protected

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

◆ ad_q0

template<typename _Scalar>

ADConfigVectorType ad_q0

protected

Definition at line 1290 of file code-generator-algo.hpp.

◆ ad_q1

template<typename _Scalar>

ADConfigVectorType ad_q1

protected

Definition at line 1291 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.

◆ x

template<typename _Scalar>

VectorXs x

protected

Definition at line 1289 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

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ADConfigVectorType

◆ ADMatrixXs

◆ ADTangentVectorType

◆ ADVectorXs

◆ Base

◆ MatrixXs

◆ Model

◆ Scalar

◆ VectorXs

Constructor & Destructor Documentation

◆ CodeGenDDifference()

Member Function Documentation

◆ buildMap()

◆ evalFunction() [1/2]

◆ evalFunction() [2/2]

Member Data Documentation

◆ ad_fun

◆ ad_J0

◆ ad_J1

◆ ad_model

◆ ad_q0

◆ ad_q1

◆ ad_X

◆ ad_Y

◆ x

◆ y