ldl_solver_eigen.hpp
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00001 // Copyright  (C)  2018  Craig Carignan <craigc at ssl dot umd dot edu>
00002 
00003 // Version: 1.0
00004 // Author: Craig Carignan
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 
00023 // Inverse of a positive definite symmetric matrix times a vector
00024 // based on LDL^T Decomposition
00025 #ifndef LDL_SOLVER_EIGEN_HPP
00026 #define LDL_SOLVER_EIGEN_HPP
00027 
00028 
00029 #include <Eigen/Core>
00030 #include "../solveri.hpp"
00031 
00032 using namespace Eigen;
00033 
00034 namespace KDL
00035 {
00057     int ldl_solver_eigen(const Eigen::MatrixXd& A, const Eigen::VectorXd& v, Eigen::MatrixXd& L, Eigen::VectorXd& D, Eigen::VectorXd& vtmp, Eigen::VectorXd& q);
00058 }
00059 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:22