Template Struct DelassusCholeskyExpressionTpl
Defined in File contact-cholesky.hpp
Inheritance Relationships
Base Type
public pinocchio::DelassusOperatorBase< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >
(Template Struct DelassusOperatorBase)
Struct Documentation
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template<typename _ContactCholeskyDecomposition>
struct DelassusCholeskyExpressionTpl : public pinocchio::DelassusOperatorBase<DelassusCholeskyExpressionTpl<_ContactCholeskyDecomposition>> Public Types
Values:
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enumerator RowsAtCompileTime
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enumerator RowsAtCompileTime
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typedef _ContactCholeskyDecomposition ContactCholeskyDecomposition
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typedef ContactCholeskyDecomposition::Scalar Scalar
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typedef ContactCholeskyDecomposition::Vector Vector
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typedef ContactCholeskyDecomposition::Matrix Matrix
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typedef ContactCholeskyDecomposition::RowMatrix RowMatrix
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typedef DelassusCholeskyExpressionTpl<_ContactCholeskyDecomposition> Self
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typedef DelassusOperatorBase<Self> Base
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typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::Type RowMatrixBlockXpr
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typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::ConstType RowMatrixConstBlockXpr
Public Functions
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inline explicit DelassusCholeskyExpressionTpl(const ContactCholeskyDecomposition &self)
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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.
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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.
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inline Eigen::DenseIndex size() const
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inline Eigen::DenseIndex rows() const
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inline Eigen::DenseIndex cols() const
Protected Attributes
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const ContactCholeskyDecomposition &self