pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > Struct Template Reference

#include <contact-cholesky.hpp>

Public Types
enum	{ RowsAtCompileTime = traits<DelassusCholeskyExpressionTpl>::RowsAtCompileTime }
typedef DelassusOperatorBase< Self >	Base
typedef _ContactCholeskyDecomposition	ContactCholeskyDecomposition
typedef ContactCholeskyDecomposition::Matrix	Matrix
typedef ContactCholeskyDecomposition::RowMatrix	RowMatrix
typedef SizeDepType< Eigen::Dynamic >::template BlockReturn< RowMatrix >::Type	RowMatrixBlockXpr
typedef SizeDepType< Eigen::Dynamic >::template BlockReturn< RowMatrix >::ConstType	RowMatrixConstBlockXpr
typedef ContactCholeskyDecomposition::Scalar	Scalar
typedef DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >	Self
typedef ContactCholeskyDecomposition::Vector	Vector

Public Member Functions
template<typename MatrixIn , typename MatrixOut >
void	applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res) const
Eigen::DenseIndex	cols () const
	DelassusCholeskyExpressionTpl (const ContactCholeskyDecomposition &self)
template<typename MatrixDerived >
	PINOCCHIO_EIGEN_PLAIN_TYPE (MatrixDerived) operator*(const Eigen
	Returns the Constraint Cholesky decomposition associated to this DelassusCholeskyExpression. More...
Eigen::DenseIndex	rows () const
Eigen::DenseIndex	size () const
void	updateDamping (const Scalar &mu)
	Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive. More...

Protected Attributes
const ContactCholeskyDecomposition &	self

Detailed Description

template<typename _ContactCholeskyDecomposition>
struct pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >

Definition at line 41 of file algorithm/contact-cholesky.hpp.

Member Typedef Documentation

Base

template<typename _ContactCholeskyDecomposition >

typedef DelassusOperatorBase<Self> pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::Base

Definition at line 546 of file algorithm/contact-cholesky.hpp.

ContactCholeskyDecomposition

template<typename _ContactCholeskyDecomposition >

typedef _ContactCholeskyDecomposition pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::ContactCholeskyDecomposition

Definition at line 540 of file algorithm/contact-cholesky.hpp.

Matrix

template<typename _ContactCholeskyDecomposition >

typedef ContactCholeskyDecomposition::Matrix pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::Matrix

Definition at line 543 of file algorithm/contact-cholesky.hpp.

RowMatrix

template<typename _ContactCholeskyDecomposition >

typedef ContactCholeskyDecomposition::RowMatrix pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::RowMatrix

Definition at line 544 of file algorithm/contact-cholesky.hpp.

RowMatrixBlockXpr

template<typename _ContactCholeskyDecomposition >

typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::Type pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::RowMatrixBlockXpr

Definition at line 549 of file algorithm/contact-cholesky.hpp.

RowMatrixConstBlockXpr

template<typename _ContactCholeskyDecomposition >

typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::ConstType pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::RowMatrixConstBlockXpr

Definition at line 551 of file algorithm/contact-cholesky.hpp.

Scalar

template<typename _ContactCholeskyDecomposition >

typedef ContactCholeskyDecomposition::Scalar pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::Scalar

Definition at line 541 of file algorithm/contact-cholesky.hpp.

Self

template<typename _ContactCholeskyDecomposition >

typedef DelassusCholeskyExpressionTpl<_ContactCholeskyDecomposition> pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::Self

Definition at line 545 of file algorithm/contact-cholesky.hpp.

Vector

template<typename _ContactCholeskyDecomposition >

typedef ContactCholeskyDecomposition::Vector pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::Vector

Definition at line 542 of file algorithm/contact-cholesky.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _ContactCholeskyDecomposition >

anonymous enum

Enumerator
RowsAtCompileTime

Definition at line 553 of file algorithm/contact-cholesky.hpp.

Constructor & Destructor Documentation

DelassusCholeskyExpressionTpl()

template<typename _ContactCholeskyDecomposition >

pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::DelassusCholeskyExpressionTpl ( const ContactCholeskyDecomposition &  self )

inlineexplicit

Definition at line 558 of file algorithm/contact-cholesky.hpp.

Member Function Documentation

applyOnTheRight()

template<typename _ContactCholeskyDecomposition >

template<typename MatrixIn , typename MatrixOut >

void pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::applyOnTheRight ( const Eigen::MatrixBase< MatrixIn > &  x, const Eigen::MatrixBase< MatrixOut > &  res  ) const

inline

Definition at line 565 of file algorithm/contact-cholesky.hpp.

cols()

template<typename _ContactCholeskyDecomposition >

Eigen::DenseIndex pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::cols ( ) const

inline

Definition at line 696 of file algorithm/contact-cholesky.hpp.

PINOCCHIO_EIGEN_PLAIN_TYPE()

template<typename _ContactCholeskyDecomposition >

template<typename MatrixDerived >

pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::PINOCCHIO_EIGEN_PLAIN_TYPE ( MatrixDerived  ) const

inline

Returns the Constraint Cholesky decomposition associated to this DelassusCholeskyExpression.

Add a damping term to the diagonal of the Delassus matrix. The damping terms should be all positives.

Parameters

[in]

mus

Vector of positive regularization factor allowing to enforce the definite positiveness of the matrix.

Definition at line 602 of file algorithm/contact-cholesky.hpp.

rows()

template<typename _ContactCholeskyDecomposition >

Eigen::DenseIndex pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::rows ( ) const

inline

Definition at line 692 of file algorithm/contact-cholesky.hpp.

size()

template<typename _ContactCholeskyDecomposition >

Eigen::DenseIndex pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::size ( ) const

inline

Definition at line 688 of file algorithm/contact-cholesky.hpp.

updateDamping()

template<typename _ContactCholeskyDecomposition >

void pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::updateDamping ( const Scalar &  mu )

inline

Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive.

Parameters

[in]

mu

Regularization factor allowing to enforce the definite positiveness of the matrix.

Definition at line 683 of file algorithm/contact-cholesky.hpp.

Member Data Documentation

self

template<typename _ContactCholeskyDecomposition >

const ContactCholeskyDecomposition& pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >::self

protected

Definition at line 702 of file algorithm/contact-cholesky.hpp.

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

• algorithm/contact-cholesky.hpp