Namespaces | Functions | Variables
cholesky.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/cholesky.hxx"
Include dependency graph for cholesky.hpp:

Go to the source code of this file.

Namespaces

 pinocchio
 Main pinocchio namespace.
 
 pinocchio::cholesky
 Cholesky decompositions.
 

Functions

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
Mat & pinocchio::cholesky::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. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::RowMatrixXs & pinocchio::cholesky::computeMinv (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
 Computes the inverse of the joint space inertia matrix M from its Cholesky factorization. The results is then directly stored in data.Minv. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & pinocchio::cholesky::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. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat , typename MatRes >
MatRes & pinocchio::cholesky::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 $ M v $ by using the sparsity pattern of the M matrix. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
 pinocchio::cholesky::PINOCCHIO_EIGEN_PLAIN_TYPE (Mat) Mv(const ModelTpl< Scalar
 Performs the multiplication $ M v $ by using the sparsity pattern of the M matrix. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
Mat & pinocchio::cholesky::solve (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &y)
 Return the solution $x$ of $ M x = y $ using the Cholesky decomposition stored in data given the entry $ y $. Act like solveInPlace of Eigen::LLT. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
Mat & pinocchio::cholesky::UDUtv (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &m)
 Performs the multiplication $ M v $ by using the Cholesky decomposition of M stored in data. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
Mat & pinocchio::cholesky::Uiv (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
 Perform the pivot inversion $ U^{-1}v $ using the Cholesky decomposition stored in data and acting in place. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
Mat & pinocchio::cholesky::Utiv (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
 Perform the pivot inversion $ U^{-\top}v $ using the Cholesky decomposition stored in data and acting in place. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
Mat & pinocchio::cholesky::Utv (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
 Perform the sparse multiplication $ U^{\top}v $ using the Cholesky decomposition stored in data and acting in place. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Mat >
Mat & pinocchio::cholesky::Uv (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
 Perform the sparse multiplication $ Uv $ using the Cholesky decomposition stored in data and acting in place. More...
 

Variables

JointCollectionTpl const DataTpl< Scalar, Options, JointCollectionTpl > & pinocchio::cholesky::data
 
JointCollectionTpl const DataTpl< Scalar, Options, JointCollectionTpl > const Eigen::MatrixBase< Mat > & pinocchio::cholesky::min
 
JointCollectionTpl & pinocchio::cholesky::model
 
 pinocchio::cholesky::Options
 


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autogenerated on Fri Jun 23 2023 02:38:33