ldl_solver_eigen.hpp
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1 // Copyright (C) 2018 Craig Carignan <craigc at ssl dot umd dot edu>
2 
3 // Version: 1.0
4 // Author: Craig Carignan <craigc at ssl dot umd dot edu>
5 // Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 
23 // Inverse of a positive definite symmetric matrix times a vector
24 // based on LDL^T Decomposition
25 #ifndef LDL_SOLVER_EIGEN_HPP
26 #define LDL_SOLVER_EIGEN_HPP
27 
28 
29 #include <Eigen/Core>
30 #include "../solveri.hpp"
31 
32 using namespace Eigen;
33 
34 namespace KDL
35 {
57  int ldl_solver_eigen(const Eigen::MatrixXd& A, const Eigen::VectorXd& v, Eigen::MatrixXd& L, Eigen::VectorXd& D, Eigen::VectorXd& vtmp, Eigen::VectorXd& q);
58 }
59 #endif
int ldl_solver_eigen(const Eigen::MatrixXd &A, const Eigen::VectorXd &v, Eigen::MatrixXd &L, Eigen::VectorXd &D, Eigen::VectorXd &vtmp, Eigen::VectorXd &q)
Solves the system of equations Aq = v for q via LDL decomposition, where A is a square positive defin...


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autogenerated on Sun Nov 22 2020 03:16:43