pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Loading...
Searching...
No Matches
CodeGenMinv< _Scalar > Struct Template Reference
Inheritance diagram for CodeGenMinv< _Scalar >:
Inheritance graph
[legend]
Collaboration diagram for CodeGenMinv< _Scalar >:
Collaboration graph
[legend]

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

 CodeGenMinv (const Model &model, const std::string &function_name="minv", const std::string &library_name="cg_minv_eval")
void buildMap ()
 build the mapping Y = f(X)
template<typename ConfigVectorType>
void evalFunction (const Eigen::MatrixBase< ConfigVectorType > &q)
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 Minv

Protected Attributes

ADData ad_data
ADFun ad_fun
ADModel ad_model
ADConfigVectorType ad_q
ADVectorXs ad_X
ADVectorXs ad_Y
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::CodeGenMinv< _Scalar >

Definition at line 358 of file code-generator-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar>
typedef Base::ADConfigVectorType ADConfigVectorType

Definition at line 364 of file code-generator-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar>
typedef Base::ADTangentVectorType ADTangentVectorType

Definition at line 365 of file code-generator-algo.hpp.

◆ Base

template<typename _Scalar>
typedef CodeGenBase<_Scalar> Base

Definition at line 360 of file code-generator-algo.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef Base::MatrixXs MatrixXs

Definition at line 366 of file code-generator-algo.hpp.

◆ Model

template<typename _Scalar>
typedef Base::Model Model

Definition at line 363 of file code-generator-algo.hpp.

◆ Scalar

template<typename _Scalar>
typedef Base::Scalar Scalar

Definition at line 361 of file code-generator-algo.hpp.

◆ VectorXs

template<typename _Scalar>
typedef Base::VectorXs VectorXs

Definition at line 367 of file code-generator-algo.hpp.

Constructor & Destructor Documentation

◆ CodeGenMinv()

template<typename _Scalar>
CodeGenMinv(const Model &model,
const std::string &function_name = "minv",
const std::string &library_name = "cg_minv_eval" )
inline

Definition at line 369 of file code-generator-algo.hpp.

◆ ~CodeGenMinv()

template<typename _Scalar>
virtual ~CodeGenMinv()
inlinevirtual

Definition at line 385 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 389 of file code-generator-algo.hpp.

◆ evalFunction()

template<typename _Scalar>
template<typename ConfigVectorType>
void evalFunction(const Eigen::MatrixBase< ConfigVectorType > &q)
inline

Definition at line 414 of file code-generator-algo.hpp.

Member Data Documentation

◆ ad_data

template<typename _Scalar>
ADData ad_data
protected

Definition at line 182 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 447 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.

◆ Minv

template<typename _Scalar>
MatrixXs Minv

Definition at line 434 of file code-generator-algo.hpp.

◆ res

template<typename _Scalar>
VectorXs res
protected

Definition at line 445 of file code-generator-algo.hpp.

◆ x

template<typename _Scalar>
VectorXs x
protected

Definition at line 444 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: