ldl_solver_eigen.hpp

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// Copyright  (C)  2018  Craig Carignan <craigc at ssl dot umd dot edu>

// Version: 1.0
// Author: Craig Carignan <craigc at ssl dot umd dot edu>
// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA


// Inverse of a positive definite symmetric matrix times a vector
// based on LDL^T Decomposition
#ifndef LDL_SOLVER_EIGEN_HPP
#define LDL_SOLVER_EIGEN_HPP


#include <Eigen/Core>
#include "../solveri.hpp"

using namespace Eigen;

namespace KDL
{
    int ldl_solver_eigen(const Eigen::MatrixXd& A, const Eigen::VectorXd& v, Eigen::MatrixXd& L, Eigen::VectorXd& D, Eigen::VectorXd& vtmp, Eigen::VectorXd& q);
}
#endif