HyQLinearizationCodegen.cpp File Reference

#include <ct/optcon/optcon.h>
#include <ct/rbd/rbd.h>
#include <ct/models/HyQ/HyQ.h>
#include <ct/models/CodegenOutputDirs.h>
#include "helperFunctions.h"

Typedefs
typedef CppAD::AD< CppAD::cg::CG< double > >	SCALAR
typedef SCALAR::value_type	AD_ValueType
typedef ct::rbd::FloatingBaseFDSystem< ct::rbd::HyQ::tpl::Dynamics< SCALAR >, false >	HyQSystemAD

Functions
void	generateInverseDynamics ()
void	generateForwardKinematics ()
void	generateForwardZeroForwardDynamics ()
void	generateFDLinearization (int argc, char *argv[])
int	main (int argc, char *argv[])

Variables
const size_t	state_dim = HyQSystemAD::STATE_DIM
const size_t	control_dim = HyQSystemAD::CONTROL_DIM

Typedef Documentation

SCALAR

typedef CppAD::AD<CppAD::cg::CG<double> > SCALAR

AD_ValueType

typedef SCALAR::value_type AD_ValueType

HyQSystemAD

typedef ct::rbd::FloatingBaseFDSystem<ct::rbd::HyQ::tpl::Dynamics<SCALAR>, false> HyQSystemAD

Function Documentation

generateInverseDynamics()

void generateInverseDynamics

(

)

Referenced by main().

generateForwardKinematics()

void generateForwardKinematics

(

)

Referenced by main().

generateForwardZeroForwardDynamics()

void generateForwardZeroForwardDynamics

(

)

Referenced by main().

generateFDLinearization()

void generateFDLinearization	(	int	argc,
		char *	argv[]
	)

Referenced by main().

main()

int main	(	int	argc,
		char *	argv[]
	)

References generateFDLinearization(), generateForwardKinematics(), generateForwardZeroForwardDynamics(), and generateInverseDynamics().

Variable Documentation

state_dim

const size_t state_dim = HyQSystemAD::STATE_DIM

control_dim

const size_t control_dim = HyQSystemAD::CONTROL_DIM