#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/algorithm/cholesky.hxx"
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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 | |