cholesky.hpp

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//
// Copyright (c) 2015-2019 CNRS INRIA
//

#ifndef __pinocchio_cholesky_hpp__
#define __pinocchio_cholesky_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
  
namespace pinocchio
{
  namespace cholesky
  {
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
    inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
    decompose(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
              DataTpl<Scalar,Options,JointCollectionTpl> & data);

    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & solve(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                const Eigen::MatrixBase<Mat> & y);

    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat)
    Mv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
       const DataTpl<Scalar,Options,JointCollectionTpl> & data,
       const Eigen::MatrixBase<Mat> & min);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat, typename MatRes>
    MatRes & Mv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                const Eigen::MatrixBase<Mat> & min,
                const Eigen::MatrixBase<MatRes> & mout);
    
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & UDUtv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                const Eigen::MatrixBase<Mat> & m);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & Uv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
             const DataTpl<Scalar,Options,JointCollectionTpl> & data,
             const Eigen::MatrixBase<Mat> & v);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & Utv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
              const DataTpl<Scalar,Options,JointCollectionTpl> & data,
              const Eigen::MatrixBase<Mat> & v);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & Uiv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
              const DataTpl<Scalar,Options,JointCollectionTpl> & data ,
              const Eigen::MatrixBase<Mat> & v);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & Utiv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
               const DataTpl<Scalar,Options,JointCollectionTpl> & data ,
               const Eigen::MatrixBase<Mat> & v);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & solve(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                const DataTpl<Scalar,Options,JointCollectionTpl> & data ,
                const Eigen::MatrixBase<Mat> & v);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Mat>
    Mat & computeMinv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                      const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                      const Eigen::MatrixBase<Mat> & Minv);
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
    const typename DataTpl<Scalar,Options,JointCollectionTpl>::RowMatrixXs &
    computeMinv(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                DataTpl<Scalar,Options,JointCollectionTpl> & data)
    {
      return computeMinv(model,data,data.Minv);
    }
    
  } // namespace cholesky  
} // namespace pinocchio 

/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/cholesky.hxx"

#endif // ifndef __pinocchio_cholesky_hpp__