Template Struct DelassusCholeskyExpressionTpl

Inheritance Relationships

Base Type

Struct Documentation

template<typename _ContactCholeskyDecomposition>
struct DelassusCholeskyExpressionTpl : public pinocchio::DelassusOperatorBase<DelassusCholeskyExpressionTpl<_ContactCholeskyDecomposition>>

Public Types

Values:

enumerator RowsAtCompileTime
typedef _ContactCholeskyDecomposition ContactCholeskyDecomposition
typedef ContactCholeskyDecomposition::Scalar Scalar
typedef ContactCholeskyDecomposition::Vector Vector
typedef ContactCholeskyDecomposition::Matrix Matrix
typedef ContactCholeskyDecomposition::RowMatrix RowMatrix
typedef DelassusCholeskyExpressionTpl<_ContactCholeskyDecomposition> Self
typedef DelassusOperatorBase<Self> Base
typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::Type RowMatrixBlockXpr
typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::ConstType RowMatrixConstBlockXpr

Public Functions

inline explicit DelassusCholeskyExpressionTpl(const ContactCholeskyDecomposition &self)
template<typename MatrixIn, typename MatrixOut>
inline void applyOnTheRight(const Eigen::MatrixBase<MatrixIn> &x, const Eigen::MatrixBase<MatrixOut> &res) const
template<typename MatrixDerived> inline  PINOCCHIO_EIGEN_PLAIN_TYPE (MatrixDerived) operator*(const Eigen

Returns the Constraint Cholesky decomposition associated to this DelassusCholeskyExpression.

Add a damping term to the diagonal of the Delassus matrix. The damping terms should be all positives.

Parameters:

mus[in] Vector of positive regularization factor allowing to enforce the definite positiveness of the matrix.

inline void updateDamping(const Scalar &mu)

Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive.

Parameters:

mu[in] Regularization factor allowing to enforce the definite positiveness of the matrix.

inline Eigen::DenseIndex size() const
inline Eigen::DenseIndex rows() const
inline Eigen::DenseIndex cols() const

Protected Attributes

const ContactCholeskyDecomposition &self