Template Class Symmetric3Tpl

Defined in File symmetric3.hpp

Nested Relationships

Nested Types

Class Documentation

template<typename _Scalar, int _Options> class Symmetric3Tpl

Public Types

Values:

enumerator Options

typedef _Scalar Scalar

typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3

typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6

typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3

typedef Eigen::Matrix<Scalar, 2, 2, Options> Matrix2

typedef Eigen::Matrix<Scalar, 3, 2, Options> Matrix32

Public Functions

inline Symmetric3Tpl()

template<typename Sc, int Opt> inline explicit Symmetric3Tpl(const Eigen::Matrix<Sc, 3, 3, Opt> &I)

inline explicit Symmetric3Tpl(const Vector6 &I)

inline Symmetric3Tpl(const Scalar &a0, const Scalar &a1, const Scalar &a2, const Scalar &a3, const Scalar &a4, const Scalar &a5)

inline void setZero()

inline void setRandom()

inline void setIdentity()

inline bool operator==(const Symmetric3Tpl &other) const

inline bool operator!=(const Symmetric3Tpl &other) const

inline bool isApprox(const Symmetric3Tpl &other, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline bool isZero(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline void fill(const Scalar value)

inline Symmetric3Tpl operator-(const SkewSquare &v) const

inline Symmetric3Tpl &operator-=(const SkewSquare &v)

inline Symmetric3Tpl operator-(const AlphaSkewSquare &v) const

inline Symmetric3Tpl &operator-=(const AlphaSkewSquare &v)

inline const Vector6 &data() const

inline Vector6 &data()

inline Matrix3 matrix() const

inline operator Matrix3() const

inline Scalar vtiv(const Vector3 &v) const

template<typename Vector3> inline Matrix3 vxs(const Eigen::MatrixBase<Vector3> &v) const

Performs the operation \( [v]_{\times} S \). This operation is equivalent to applying the cross product of v on each column of S.

Template Parameters:: Vector3 –
Parameters:: v – [in] a vector of dimension 3.
Returns:: the result \( [v]_{\times} S \).

template<typename Vector3> inline Matrix3 svx(const Eigen::MatrixBase<Vector3> &v) const

Performs the operation \( M = S_{3} [v]_{\times} \).

Template Parameters:: Vector3 –
Parameters:: v – [in] a vector of dimension 3.
Returns:: the result \( S [v]_{\times} \).

inline Symmetric3Tpl operator+(const Symmetric3Tpl &s2) const

inline Symmetric3Tpl &operator+=(const Symmetric3Tpl &s2)

template<typename V3> inline Vector3 operator*(const Eigen::MatrixBase<V3> &v) const

inline const Scalar &operator()(const int &i, const int &j) const

inline Symmetric3Tpl operator-(const Matrix3 &S) const

inline Symmetric3Tpl operator+(const Matrix3 &S) const

inline Matrix32 decomposeltI() const: Computes L for a symmetric matrix A.

template<typename D> inline Symmetric3Tpl rotate(const Eigen::MatrixBase<D> &R) const

template<typename NewScalar> inline Symmetric3Tpl<NewScalar, Options> cast() const

Returns:: An expression of *this with the Scalar type casted to NewScalar.

Public Static Functions

static inline Symmetric3Tpl Zero()

static inline Symmetric3Tpl Random()

static inline Symmetric3Tpl Identity()

static inline Symmetric3Tpl RandomPositive()

template<typename Vector3, typename Matrix3> static inline void vxs(const Eigen::MatrixBase<Vector3> &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase<Matrix3> &M)

Performs the operation \( M = [v]_{\times} S_{3} \). This operation is equivalent to applying the cross product of v on each column of S.

Template Parameters:

Vector3, Matrix3 –

Parameters:

v – [in] a vector of dimension 3.
S3 – [in] a symmetric matrix of dimension 3x3.
M – [out] an output matrix of dimension 3x3.

template<typename Vector3, typename Matrix3> static inline void svx(const Eigen::MatrixBase<Vector3> &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase<Matrix3> &M)

Performs the operation \( M = S_{3} [v]_{\times} \).

Template Parameters:

Vector3, Matrix3 –

Parameters:

v – [in] a vector of dimension 3.
S3 – [in] a symmetric matrix of dimension 3x3.
M – [out] an output matrix of dimension 3x3.

template<typename V3in, typename V3out> static inline void rhsMult(const Symmetric3Tpl &S3, const Eigen::MatrixBase<V3in> &vin, const Eigen::MatrixBase<V3out> &vout)