11 #ifndef EIGEN_BLOCK_HOUSEHOLDER_H 12 #define EIGEN_BLOCK_HOUSEHOLDER_H 21 template<
typename TriangularFactorType,
typename VectorsType,
typename CoeffsType>
24 typedef typename TriangularFactorType::Index Index;
25 typedef typename VectorsType::Scalar Scalar;
26 const Index nbVecs = vectors.cols();
27 eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
29 for(Index i = 0; i < nbVecs; i++)
31 Index rs = vectors.rows() - i;
32 Scalar Vii = vectors(i,i);
33 vectors.const_cast_derived().coeffRef(i,i) = Scalar(1);
34 triFactor.col(i).head(i).noalias() = -hCoeffs(i) * vectors.block(i, 0, rs, i).adjoint()
35 * vectors.col(i).tail(rs);
36 vectors.const_cast_derived().coeffRef(i, i) = Vii;
38 triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
39 * triFactor.col(i).head(i);
40 triFactor(i,i) = hCoeffs(i);
45 template<
typename MatrixType,
typename VectorsType,
typename CoeffsType>
48 typedef typename MatrixType::Index Index;
49 enum { TFactorSize = MatrixType::ColsAtCompileTime };
50 Index nbVecs = vectors.cols();
57 Matrix<
typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,0,
58 VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.
adjoint() * mat;
60 tmp = T.template triangularView<Upper>().adjoint() * tmp;
61 mat.noalias() -= V * tmp;
68 #endif // EIGEN_BLOCK_HOUSEHOLDER_H const TriangularView< const typename MatrixType::AdjointReturnType, TransposeMode > adjoint() const
USING_NAMESPACE_ACADO typedef TaylorVariable< Interval > T
iterative scaling algorithm to equilibrate rows and column norms in matrices
void apply_block_householder_on_the_left(MatrixType &mat, const VectorsType &vectors, const CoeffsType &hCoeffs)
Base class for triangular part in a matrix.
The matrix class, also used for vectors and row-vectors.
void make_block_householder_triangular_factor(TriangularFactorType &triFactor, const VectorsType &vectors, const CoeffsType &hCoeffs)