#include <dynamic-graph/factory.h>
#include <sot/dynamic-pinocchio/integrator-force-exact.h>
#include <sot/core/debug.hh>
#include <sot/core/exception-dynamic.hh>

Include dependency graph for integrator-force-exact.cpp:

Functions
void	dgeev_ (const char jobvl, const char jobvr, const int n, double a, const int lda, double wr, double wi, double vl, const int ldvl, double vr, const int ldvr, double work, const int lwork, int info)

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (IntegratorForceExact, "IntegratorForceExact")

static void	eigenDecomp (const dynamicgraph::Matrix &M, dynamicgraph::Matrix &P, dynamicgraph::Vector &eig)

static void	expMatrix (const dynamicgraph::Matrix &MiB, dynamicgraph::Matrix &Mexp)

int	geev (Matrix &a, Eigen::VectorXcd &w, Matrix &vl2, Matrix &vr2)

Function Documentation

◆ dgeev_()

void dgeev_	(	const char *	jobvl,
		const char *	jobvr,
		const int *	n,
		double *	a,
		const int *	lda,
		double *	wr,
		double *	wi,
		double *	vl,
		const int *	ldvl,
		double *	vr,
		const int *	ldvr,
		double *	work,
		const int *	lwork,
		int *	info
	)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN()

DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	IntegratorForceExact	,
		"IntegratorForceExact"
	)

◆ eigenDecomp()

static void eigenDecomp	(	const dynamicgraph::Matrix &	M,
		dynamicgraph::Matrix &	P,
		dynamicgraph::Vector &	eig
	)

static

Definition at line 80 of file integrator-force-exact.cpp.

◆ expMatrix()

static void expMatrix	(	const dynamicgraph::Matrix &	MiB,
		dynamicgraph::Matrix &	Mexp
	)

static

Definition at line 113 of file integrator-force-exact.cpp.

◆ geev()

int geev	(	Matrix &	a,
		Eigen::VectorXcd &	w,
		Matrix &	vl2,
		Matrix &	vr2
	)