math/utils.hpp File Reference

#include "tsid/math/fwd.hpp"
#include <pinocchio/spatial/se3.hpp>
#include <pinocchio/spatial/explog.hpp>
#include <iostream>
#include <fstream>
#include <vector>

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Namespaces
	tsid
	tsid::math

Macros
#define	PRINT_MATRIX(a)
#define	PRINT_VECTOR(a)

Functions
static const Eigen::IOFormat	tsid::math::CleanFmt (1, 0, ", ", "\, "[", "]")
void	tsid::math::dampedPseudoInverse (ConstRefMatrix A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, RefMatrix Apinv, double tolerance, double dampingFactor, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV, double *nullSpaceBasisOfA=0, int *nullSpaceRows=0, int *nullSpaceCols=0)
void	tsid::math::errorInSE3 (const pinocchio::SE3 &M, const pinocchio::SE3 &Mdes, pinocchio::Motion &error)
template<typename Derived >
bool	tsid::math::is_nan (const Eigen::MatrixBase< Derived > &x)
template<typename Derived >
bool	tsid::math::isFinite (const Eigen::MatrixBase< Derived > &x)
static const Eigen::IOFormat	tsid::math::matlabPrintFormat (Eigen::FullPrecision, Eigen::DontAlignCols, " ", ";\, "", "", "[", "];")
void	tsid::math::nullSpaceBasisFromDecomposition (const Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, double tolerance, double *nullSpaceBasisMatrix, int &rows, int &cols)
void	tsid::math::nullSpaceBasisFromDecomposition (const Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, int rank, double *nullSpaceBasisMatrix, int &rows, int &cols)
void	tsid::math::pseudoInverse (ConstRefMatrix A, RefMatrix Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV)
void	tsid::math::pseudoInverse (ConstRefMatrix A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, RefMatrix Apinv, double tolerance, unsigned int computationOptions)
void	tsid::math::pseudoInverse (ConstRefMatrix A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, RefMatrix Apinv, double tolerance, double *nullSpaceBasisOfA, int &nullSpaceRows, int &nullSpaceCols, unsigned int computationOptions)
template<class Matrix >
bool	tsid::math::readMatrixFromFile (const std::string &filename, const Eigen::MatrixBase< Matrix > &matrix)
void	tsid::math::SE3ToVector (const pinocchio::SE3 &M, RefVector vec)
void	tsid::math::SE3ToXYZQUAT (const pinocchio::SE3 &M, RefVector xyzQuat)
void	tsid::math::solveWithDampingFromSvd (Eigen::JacobiSVD< Eigen::MatrixXd > &svd, ConstRefVector b, RefVector sol, double damping=0.0)
void	tsid::math::svdSolveWithDamping (ConstRefMatrix A, ConstRefVector b, RefVector sol, double damping=0.0)
template<typename T >
std::string	tsid::toString (const T &v)
template<typename T >
std::string	tsid::toString (const std::vector< T > &v, const std::string separator=", ")
template<typename T , int n>
std::string	tsid::toString (const Eigen::MatrixBase< T > &v, const std::string separator=", ")
void	tsid::math::vectorToSE3 (RefVector vec, pinocchio::SE3 &M)
template<class Matrix >
bool	tsid::math::writeMatrixToFile (const std::string &filename, const Eigen::MatrixBase< Matrix > &matrix)

Macro Definition Documentation

PRINT_MATRIX

#define PRINT_MATRIX

(

a

)

Value:

std::cout << #a << "(" << a.rows() << "x" << a.cols() << "):\n" \
            << a.format(math::CleanFmt) << std::endl

Definition at line 33 of file math/utils.hpp.

PRINT_VECTOR

#define PRINT_VECTOR

(

a

)

Value:

std::cout << #a << "(" << a.rows() << "x" << a.cols() \
            << "): " << a.transpose().format(math::CleanFmt) << std::endl

Definition at line 30 of file math/utils.hpp.