Closed ghost closed 2 years ago
@fabinsh Could you have a look on it?
@fabinsh Could you have a look on it?
Looks like your AT didnt work
@fabinsh Could you have a look on it?
@jcarpent I tried to modify the code according to CodeGenABA
, and it turns out fun.optimize("no_compare_op")
must be used for the code to pass cppad check. Perhaps aba
is not yet ready for CppAD codegen?
You then should use it. This is expected by CppADCodeGen if I remember well. I close the issue as it seems to be solving your issue.
Hi @xeonz1, I also encounter this issue some days ago with CppADCideGen. I wasn't able to make it work, so I turned to compute the mass matrix using CRBA and then do the matrix inverse to compute forward dynamics, at a cost of higher computational complexity. Did you manage to solve it? I will be happy to know your update :)
Perhaps
aba
is not yet ready for CppAD codegen?
aba is ready. It is just the need of using the right flags of compilation for CppADCodeGen.
Hi @xeonz1, I also encounter this issue some days ago with CppADCideGen. I wasn't able to make it work, so I turned to compute the mass matrix using CRBA and then do the matrix inverse to compute forward dynamics, at a cost of higher computational complexity. Did you manage to solve it? I will be happy to know your update :)
As mentioned by @xeonz1, you have to use fun.optimize("no_compare_op")
.
Hi,
Pinocchio version : 2.6.8 installed from Conda CppAD: v20220705, CppADCg: v2.4.3
code:
The code is adapted from the unittest
cppadcg-algo.cpp
. The code generation forCentroidalMomentum
andrnea
were successful, while foraba
the generation failed and it prints: