Program Listing for File cholesky.hpp
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)
//
// Copyright (c) 2015-2019 CNRS INRIA
//
#ifndef __pinocchio_cholesky_hpp__
#define __pinocchio_cholesky_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace pinocchio
{
namespace cholesky
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
decompose(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & solve(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Mat> & y);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat)
Mv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Mat> & min);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat, typename MatRes>
MatRes & Mv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Mat> & min,
const Eigen::MatrixBase<MatRes> & mout);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & UDUtv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Mat> & m);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & Uv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Mat> & v);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & Utv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Mat> & v);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & Uiv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data ,
const Eigen::MatrixBase<Mat> & v);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & Utiv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data ,
const Eigen::MatrixBase<Mat> & v);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & solve(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data ,
const Eigen::MatrixBase<Mat> & v);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
Mat & computeMinv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Mat> & Minv);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
const typename DataTpl<Scalar,Options,JointCollectionTpl>::RowMatrixXs &
computeMinv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data)
{
return computeMinv(model,data,data.Minv);
}
} // namespace cholesky
} // namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/cholesky.hxx"
#endif // ifndef __pinocchio_cholesky_hpp__