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5 #ifndef __pinocchio_cholesky_hpp__
6 #define __pinocchio_cholesky_hpp__
36 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
38 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
39 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
62 template<
typename,
int>
63 class JointCollectionTpl,
66 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
67 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
68 const Eigen::MatrixBase<Mat> & y);
85 template<
typename,
int>
86 class JointCollectionTpl,
91 const Eigen::MatrixBase<Mat> &
min);
109 template<
typename,
int>
110 class JointCollectionTpl,
116 const Eigen::MatrixBase<Mat> &
min,
117 const Eigen::MatrixBase<MatRes> & mout);
134 template<
typename,
int>
135 class JointCollectionTpl,
140 const Eigen::MatrixBase<Mat> &
m);
157 template<
typename,
int>
158 class JointCollectionTpl,
163 const Eigen::MatrixBase<Mat> &
v);
181 template<
typename,
int>
182 class JointCollectionTpl,
187 const Eigen::MatrixBase<Mat> &
v);
207 template<
typename,
int>
208 class JointCollectionTpl,
213 const Eigen::MatrixBase<Mat> &
v);
234 template<
typename,
int>
235 class JointCollectionTpl,
240 const Eigen::MatrixBase<Mat> &
v);
259 template<
typename,
int>
260 class JointCollectionTpl,
265 const Eigen::MatrixBase<Mat> &
v);
282 template<
typename,
int>
283 class JointCollectionTpl,
288 const Eigen::MatrixBase<Mat> & Minv);
302 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
316 #include "pinocchio/algorithm/cholesky.hxx"
318 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
319 #include "pinocchio/algorithm/cholesky.txx"
320 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
322 #endif // ifndef __pinocchio_cholesky_hpp__
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
Mat & Uv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the sparse multiplication using the Cholesky decomposition stored in data and acting in plac...
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Options > RowMatrixXs
Mat & UDUtv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &m)
Performs the multiplication by using the Cholesky decomposition of M stored in data.
JointCollectionTpl const DataTpl< Scalar, Options, JointCollectionTpl > const Eigen::MatrixBase< Mat > & min
Mat & solve(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &y)
Return the solution of using the Cholesky decomposition stored in data given the entry ....
PINOCCHIO_EIGEN_PLAIN_TYPE(Mat) Mv(const ModelTpl< Scalar
Performs the multiplication by using the sparsity pattern of the M matrix.
Mat & Uiv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the pivot inversion using the Cholesky decomposition stored in data and acting in place.
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & decompose(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Compute the Cholesky decomposition of the joint space inertia matrix M contained in data.
Mat & computeMinv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &Minv)
Computes the inverse of the joint space inertia matrix M from its Cholesky factorization.
JointCollectionTpl & model
JointCollectionTpl const DataTpl< Scalar, Options, JointCollectionTpl > & data
MatRes & Mv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &min, const Eigen::MatrixBase< MatRes > &mout)
Performs the multiplication by using the sparsity pattern of the M matrix.
Mat & Utv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the sparse multiplication using the Cholesky decomposition stored in data and acting in plac...
Mat & Utiv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the pivot inversion using the Cholesky decomposition stored in data and acting in place.
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sat Sep 28 2024 02:41:16