00001 // Copyright (C) 2018 Craig Carignan <craigc at ssl dot umd dot edu> 00002 00003 // Version: 1.0 00004 // Author: Craig Carignan 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 00023 // Inverse of a positive definite symmetric matrix times a vector 00024 // based on LDL^T Decomposition 00025 #ifndef LDL_SOLVER_EIGEN_HPP 00026 #define LDL_SOLVER_EIGEN_HPP 00027 00028 00029 #include <Eigen/Core> 00030 #include "../solveri.hpp" 00031 00032 using namespace Eigen; 00033 00034 namespace KDL 00035 { 00057 int ldl_solver_eigen(const Eigen::MatrixXd& A, const Eigen::VectorXd& v, Eigen::MatrixXd& L, Eigen::VectorXd& D, Eigen::VectorXd& vtmp, Eigen::VectorXd& q); 00058 } 00059 #endif