HyALinearizationCodeGen.cpp File Reference

#include <ct/core/core.h>
#include <ct/optcon/optcon.h>
#include <ct/rbd/rbd.h>
#include <cmath>
#include <memory>
#include <ct/models/HyA/HyA.h>
#include <ct/rbd/systems/FixBaseFDSystem.h>
#include <ct/models/CodegenOutputDirs.h>

Typedefs
typedef ct::core::ADCodegenLinearizer< state_dim, control_dim >::ADCGScalar	Scalar
typedef ct::rbd::FixBaseFDSystem< ct::rbd::HyA::tpl::Dynamics< Scalar > >	HyANonLinearSystem
typedef ct::core::DerivativesCppadCG< state_dim, control_dim >	JacCG
template<typename SCALAR >
using	control_vector_t = typename ct::rbd::HyA::tpl::Dynamics< SCALAR >::control_vector_t
template<typename SCALAR >
using	ExtLinkForces_t = typename ct::rbd::HyA::tpl::Dynamics< SCALAR >::ExtLinkForces_t

Functions
template<typename SCALAR >
Eigen::Matrix< SCALAR, control_dim, 1 >	hyaInverseDynamics (const Eigen::Matrix< SCALAR, state_dim, 1 > &x)
int	main (int argc, char **argv)

Variables
const size_t	state_dim = ct::rbd::FixBaseFDSystem<ct::rbd::HyA::Dynamics>::STATE_DIM
const size_t	control_dim = ct::rbd::FixBaseFDSystem<ct::rbd::HyA::Dynamics>::CONTROL_DIM
const size_t	njoints = ct::rbd::HyA::Dynamics::NJOINTS

Typedef Documentation

Scalar

typedef ct::core::ADCodegenLinearizer<state_dim, control_dim>::ADCGScalar Scalar

HyANonLinearSystem

typedef ct::rbd::FixBaseFDSystem<ct::rbd::HyA::tpl::Dynamics<Scalar> > HyANonLinearSystem

JacCG

typedef ct::core::DerivativesCppadCG<state_dim, control_dim> JacCG

control_vector_t

template<typename SCALAR >

using control_vector_t = typename ct::rbd::HyA::tpl::Dynamics<SCALAR>::control_vector_t

ExtLinkForces_t

template<typename SCALAR >

using ExtLinkForces_t = typename ct::rbd::HyA::tpl::Dynamics<SCALAR>::ExtLinkForces_t

Function Documentation

hyaInverseDynamics()

template<typename SCALAR >

Eigen::Matrix<SCALAR, control_dim, 1> hyaInverseDynamics

(

const Eigen::Matrix< SCALAR, state_dim, 1 > &

x

)

main()

int main	(	int	argc,
		char **	argv
	)

Variable Documentation

state_dim

const size_t state_dim = ct::rbd::FixBaseFDSystem<ct::rbd::HyA::Dynamics>::STATE_DIM

control_dim

const size_t control_dim = ct::rbd::FixBaseFDSystem<ct::rbd::HyA::Dynamics>::CONTROL_DIM

njoints

const size_t njoints = ct::rbd::HyA::Dynamics::NJOINTS