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

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

 AutoDiffAlgoBase (const Model &model, const std::string &filename, const std::string &libname, const std::string &fun_name)
virtual void buildMap ()=0
 build the mapping Y = f(X)
void compileLib ()
bool existLib () const
casadi_int getFunDerivsOperationCount () const
casadi_int getFunOperationCount () const
void initLib ()
void loadLib (const bool generate_if_not_exist=true)

Protected Attributes

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::AutoDiffAlgoBase< _Scalar >

Definition at line 24 of file casadi-algo.hpp.

Member Typedef Documentation

◆ ADConfigVectorType

template<typename _Scalar>
typedef ADModel::ConfigVectorType ADConfigVectorType

Definition at line 43 of file casadi-algo.hpp.

◆ ADData

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

Definition at line 39 of file casadi-algo.hpp.

◆ ADFun

template<typename _Scalar>
typedef ::casadi::Function ADFun

Definition at line 50 of file casadi-algo.hpp.

◆ ADModel

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

Definition at line 38 of file casadi-algo.hpp.

◆ ADScalar

template<typename _Scalar>
typedef ::casadi::SX ADScalar

Definition at line 27 of file casadi-algo.hpp.

◆ ADSVector

template<typename _Scalar>
typedef ::casadi::SXVector ADSVector

Definition at line 28 of file casadi-algo.hpp.

◆ ADTangentVectorType

template<typename _Scalar>
typedef ADModel::TangentVectorType ADTangentVectorType

Definition at line 44 of file casadi-algo.hpp.

◆ ConfigVectorType

template<typename _Scalar>
typedef Model::ConfigVectorType ConfigVectorType

Definition at line 41 of file casadi-algo.hpp.

◆ Data

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

Definition at line 37 of file casadi-algo.hpp.

◆ DMMatrix

template<typename _Scalar>
typedef ::casadi::DM DMMatrix

Definition at line 29 of file casadi-algo.hpp.

◆ DMVector

template<typename _Scalar>
typedef ::casadi::DMVector DMVector

Definition at line 30 of file casadi-algo.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef Data::MatrixXs MatrixXs

Definition at line 46 of file casadi-algo.hpp.

◆ Model

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

Definition at line 36 of file casadi-algo.hpp.

◆ RowMatrixXs

template<typename _Scalar>
typedef Data::RowMatrixXs RowMatrixXs

Definition at line 48 of file casadi-algo.hpp.

◆ Scalar

template<typename _Scalar>
typedef _Scalar Scalar

Definition at line 26 of file casadi-algo.hpp.

◆ TangentVectorType

template<typename _Scalar>
typedef Model::TangentVectorType TangentVectorType

Definition at line 42 of file casadi-algo.hpp.

◆ VectorXs

template<typename _Scalar>
typedef Data::VectorXs VectorXs

Definition at line 47 of file casadi-algo.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar>
anonymous enum

Definition at line 31 of file casadi-algo.hpp.

Constructor & Destructor Documentation

◆ AutoDiffAlgoBase()

template<typename _Scalar>
AutoDiffAlgoBase(const Model &model,
const std::string &filename,
const std::string &libname,
const std::string &fun_name )
inline

Definition at line 52 of file casadi-algo.hpp.

◆ ~AutoDiffAlgoBase()

template<typename _Scalar>
virtual ~AutoDiffAlgoBase()
inlinevirtual

Definition at line 68 of file casadi-algo.hpp.

Member Function Documentation

◆ buildMap()

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

build the mapping Y = f(X)

Implemented in AutoDiffABA< _Scalar >, AutoDiffABADerivatives< _Scalar >, AutoDiffConstraintDynamics< _Scalar >, and AutoDiffConstraintDynamicsDerivatives< _Scalar >.

◆ compileLib()

template<typename _Scalar>
void compileLib()
inline

Definition at line 96 of file casadi-algo.hpp.

◆ existLib()

template<typename _Scalar>
bool existLib()const
inline

Definition at line 90 of file casadi-algo.hpp.

◆ getFunDerivsOperationCount()

template<typename _Scalar>
casadi_int getFunDerivsOperationCount()const
inline

Definition at line 131 of file casadi-algo.hpp.

◆ getFunOperationCount()

template<typename _Scalar>
casadi_int getFunOperationCount()const
inline

Definition at line 126 of file casadi-algo.hpp.

◆ initLib()

template<typename _Scalar>
void initLib()
inline

Definition at line 75 of file casadi-algo.hpp.

◆ loadLib()

template<typename _Scalar>
void loadLib(const boolgenerate_if_not_exist = true)
inline

Definition at line 114 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.

◆ build_forward

template<typename _Scalar>
bool build_forward
protected

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

Definition at line 143 of file casadi-algo.hpp.

◆ build_jacobian

template<typename _Scalar>
bool build_jacobian
protected

Options to build or not the Jacobian of he function.

Definition at line 145 of file casadi-algo.hpp.

◆ cg_generated

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

Definition at line 140 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_derivs_operation_count

template<typename _Scalar>
casadi_int fun_derivs_operation_count
protected

Definition at line 150 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_operation_count

template<typename _Scalar>
casadi_int fun_operation_count
protected

Definition at line 150 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.

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