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);
 
 
    // TODO Clearify, it seems it is exactly the same as solve in l. 54
    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"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/cholesky.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_cholesky_hpp__