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 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 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 of using the Cholesky decomposition stored in data given the entry . 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 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 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 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 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 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