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

typedef Base::ADConfigVectorType ADConfigVectorType
typedef Base::ADFun ADFun
typedef Base::ADScalar ADScalar
typedef Base::ADSVector ADSVector
typedef Base::ADTangentVectorType ADTangentVectorType
typedef AutoDiffAlgoBase< _Scalar > Base
typedef Base::DMMatrix DMMatrix
typedef Base::DMVector DMVector
typedef Base::MatrixXs MatrixXs
typedef Base::RowMatrixXs RowMatrixXs
typedef Base::Scalar Scalar
typedef Base::TangentVectorType TangentVectorType
typedef Base::VectorXs VectorXs
Public Types inherited from AutoDiffAlgoBase< _Scalar >
enum  { Options = 0 }
typedef ADModel::ConfigVectorType ADConfigVectorType
typedef pinocchio::DataTpl< ADScalar, Options > ADData
typedef ::casadi::Function ADFun
typedef pinocchio::ModelTpl< ADScalar, Options > ADModel
typedef ::casadi::SX ADScalar
typedef ::casadi::SXVector ADSVector
typedef ADModel::TangentVectorType ADTangentVectorType
typedef Model::ConfigVectorType ConfigVectorType
typedef pinocchio::DataTpl< Scalar, Options > Data
typedef ::casadi::DM DMMatrix
typedef ::casadi::DMVector DMVector
typedef Data::MatrixXs MatrixXs
typedef pinocchio::ModelTpl< Scalar, Options > Model
typedef Data::RowMatrixXs RowMatrixXs
typedef _Scalar Scalar
typedef Model::TangentVectorType TangentVectorType
typedef Data::VectorXs VectorXs

Public Member Functions

 AutoDiffABADerivatives (const Model &model, const std::string &filename="casadi_abaDerivs", const std::string &libname="libcasadi_cg_abaDerivs", const std::string &fun_name="eval_f")
virtual void buildMap ()
 build the mapping Y = f(X)
template<typename ConfigVectorType1, typename TangentVectorType1, typename TangentVectorType2>
void evalFunction (const Eigen::MatrixBase< ConfigVectorType1 > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau)
Public Member Functions inherited from AutoDiffAlgoBase< _Scalar >
 AutoDiffAlgoBase (const Model &model, const std::string &filename, const std::string &libname, const std::string &fun_name)
void compileLib ()
bool existLib () const
casadi_int getFunDerivsOperationCount () const
casadi_int getFunOperationCount () const
void initLib ()
void loadLib (const bool generate_if_not_exist=true)

Public Attributes

TangentVectorType ddq
RowMatrixXs ddq_dq
RowMatrixXs ddq_dtau
RowMatrixXs ddq_dv

Protected Attributes

ADData ad_data
ADFun ad_fun
ADFun ad_fun_derivs
ADModel ad_model
::casadi::CodeGenerator cg_generated
ADScalar cs_ddq
ADScalar cs_ddq_dq
ADScalar cs_ddq_dtau
ADScalar cs_ddq_dv
ADScalar cs_q
ADScalar cs_tau
ADScalar cs_v
std::string filename
ADFun fun
ADFun fun_derivs
std::string fun_name
std::vector< DMMatrix > fun_output
std::vector< DMMatrix > fun_output_derivs
std::string libname
ADConfigVectorType q_ad
std::vector< Scalar > q_vec
ADTangentVectorType tau_ad
std::vector< Scalar > tau_vec
ADTangentVectorType v_ad
std::vector< Scalar > v_vec
Protected Attributes inherited from AutoDiffAlgoBase< _Scalar >
ADData ad_data
ADFun ad_fun
ADFun ad_fun_derivs
ADModel ad_model
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.
::casadi::CodeGenerator cg_generated
std::string filename
ADFun fun
ADFun fun_derivs
casadi_int fun_derivs_operation_count
std::string fun_name
casadi_int fun_operation_count
std::vector< DMMatrix > fun_output
std::vector< DMMatrix > fun_output_derivs
std::string libname

Detailed Description

template<typename _Scalar>
struct pinocchio::casadi::AutoDiffABADerivatives< _Scalar >

Definition at line 296 of file casadi-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar>
typedef Base::ADConfigVectorType ADConfigVectorType

Definition at line 312 of file casadi-algo.hpp.

◆ ADFun

template<typename _Scalar>
typedef Base::ADFun ADFun

Definition at line 307 of file casadi-algo.hpp.

◆ ADScalar

template<typename _Scalar>
typedef Base::ADScalar ADScalar

Definition at line 310 of file casadi-algo.hpp.

◆ ADSVector

template<typename _Scalar>
typedef Base::ADSVector ADSVector

Definition at line 311 of file casadi-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar>
typedef Base::ADTangentVectorType ADTangentVectorType

Definition at line 313 of file casadi-algo.hpp.

◆ Base

template<typename _Scalar>
typedef AutoDiffAlgoBase<_Scalar> Base

Definition at line 299 of file casadi-algo.hpp.

◆ DMMatrix

template<typename _Scalar>
typedef Base::DMMatrix DMMatrix

Definition at line 309 of file casadi-algo.hpp.

◆ DMVector

template<typename _Scalar>
typedef Base::DMVector DMVector

Definition at line 308 of file casadi-algo.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef Base::MatrixXs MatrixXs

Definition at line 305 of file casadi-algo.hpp.

◆ RowMatrixXs

template<typename _Scalar>
typedef Base::RowMatrixXs RowMatrixXs

Definition at line 303 of file casadi-algo.hpp.

◆ Scalar

template<typename _Scalar>
typedef Base::Scalar Scalar

Definition at line 300 of file casadi-algo.hpp.

◆ TangentVectorType

template<typename _Scalar>
typedef Base::TangentVectorType TangentVectorType

Definition at line 302 of file casadi-algo.hpp.

◆ VectorXs

template<typename _Scalar>
typedef Base::VectorXs VectorXs

Definition at line 304 of file casadi-algo.hpp.

Constructor & Destructor Documentation

◆ AutoDiffABADerivatives()

template<typename _Scalar>
AutoDiffABADerivatives(const Model &model,
const std::string &filename = "casadi_abaDerivs",
const std::string &libname = "libcasadi_cg_abaDerivs",
const std::string &fun_name = "eval_f" )
inlineexplicit

Definition at line 315 of file casadi-algo.hpp.

◆ ~AutoDiffABADerivatives()

template<typename _Scalar>
virtual ~AutoDiffABADerivatives()
inlinevirtual

Definition at line 346 of file casadi-algo.hpp.

Member Function Documentation

◆ buildMap()

template<typename _Scalar>
virtual void buildMap()
inlinevirtual

build the mapping Y = f(X)

Implements AutoDiffAlgoBase< _Scalar >.

Definition at line 350 of file casadi-algo.hpp.

◆ evalFunction()

template<typename _Scalar>
template<typename ConfigVectorType1, typename TangentVectorType1, typename TangentVectorType2>
void evalFunction(const Eigen::MatrixBase< ConfigVectorType1 > &q,
const Eigen::MatrixBase< TangentVectorType1 > &v,
const Eigen::MatrixBase< TangentVectorType2 > &tau )
inline

Definition at line 368 of file casadi-algo.hpp.

Member Data Documentation

◆ ad_data

template<typename _Scalar>
ADData ad_data
protected

Definition at line 138 of file casadi-algo.hpp.

◆ ad_fun

template<typename _Scalar>
ADFun ad_fun
protected

Definition at line 147 of file casadi-algo.hpp.

◆ ad_fun_derivs

template<typename _Scalar>
ADFun ad_fun_derivs
protected

Definition at line 147 of file casadi-algo.hpp.

◆ ad_model

template<typename _Scalar>
ADModel ad_model
protected

Definition at line 137 of file casadi-algo.hpp.

◆ cg_generated

template<typename _Scalar>
::casadi::CodeGenerator cg_generated
protected

Definition at line 140 of file casadi-algo.hpp.

◆ cs_ddq

template<typename _Scalar>
ADScalar cs_ddq
protected

Definition at line 406 of file casadi-algo.hpp.

◆ cs_ddq_dq

template<typename _Scalar>
ADScalar cs_ddq_dq
protected

Definition at line 408 of file casadi-algo.hpp.

◆ cs_ddq_dtau

template<typename _Scalar>
ADScalar cs_ddq_dtau
protected

Definition at line 408 of file casadi-algo.hpp.

◆ cs_ddq_dv

template<typename _Scalar>
ADScalar cs_ddq_dv
protected

Definition at line 408 of file casadi-algo.hpp.

◆ cs_q

template<typename _Scalar>
ADScalar cs_q
protected

Definition at line 406 of file casadi-algo.hpp.

◆ cs_tau

template<typename _Scalar>
ADScalar cs_tau
protected

Definition at line 406 of file casadi-algo.hpp.

◆ cs_v

template<typename _Scalar>
ADScalar cs_v
protected

Definition at line 406 of file casadi-algo.hpp.

◆ ddq

template<typename _Scalar>
TangentVectorType ddq

Definition at line 388 of file casadi-algo.hpp.

◆ ddq_dq

template<typename _Scalar>
RowMatrixXs ddq_dq

Definition at line 389 of file casadi-algo.hpp.

◆ ddq_dtau

template<typename _Scalar>
RowMatrixXs ddq_dtau

Definition at line 389 of file casadi-algo.hpp.

◆ ddq_dv

template<typename _Scalar>
RowMatrixXs ddq_dv

Definition at line 389 of file casadi-algo.hpp.

◆ filename

template<typename _Scalar>
std::string filename
protected

Definition at line 139 of file casadi-algo.hpp.

◆ fun

template<typename _Scalar>
ADFun fun
protected

Definition at line 148 of file casadi-algo.hpp.

◆ fun_derivs

template<typename _Scalar>
ADFun fun_derivs
protected

Definition at line 148 of file casadi-algo.hpp.

◆ fun_name

template<typename _Scalar>
std::string fun_name
protected

Definition at line 139 of file casadi-algo.hpp.

◆ fun_output

template<typename _Scalar>
std::vector<DMMatrix> fun_output
protected

Definition at line 149 of file casadi-algo.hpp.

◆ fun_output_derivs

template<typename _Scalar>
std::vector<DMMatrix> fun_output_derivs
protected

Definition at line 149 of file casadi-algo.hpp.

◆ libname

template<typename _Scalar>
std::string libname
protected

Definition at line 139 of file casadi-algo.hpp.

◆ q_ad

template<typename _Scalar>
ADConfigVectorType q_ad
protected

Definition at line 410 of file casadi-algo.hpp.

◆ q_vec

template<typename _Scalar>
std::vector<Scalar> q_vec
protected

Definition at line 412 of file casadi-algo.hpp.

◆ tau_ad

template<typename _Scalar>
ADTangentVectorType tau_ad
protected

Definition at line 411 of file casadi-algo.hpp.

◆ tau_vec

template<typename _Scalar>
std::vector<Scalar> tau_vec
protected

Definition at line 412 of file casadi-algo.hpp.

◆ v_ad

template<typename _Scalar>
ADTangentVectorType v_ad
protected

Definition at line 411 of file casadi-algo.hpp.

◆ v_vec

template<typename _Scalar>
std::vector<Scalar> v_vec
protected

Definition at line 412 of file casadi-algo.hpp.

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