Template Struct DelassusOperatorDenseTpl

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar, int _Options>
struct DelassusOperatorDenseTpl : public pinocchio::DelassusOperatorBase<DelassusOperatorDenseTpl<_Scalar, _Options>>

Public Types

Values:

enumerator Options
enumerator RowsAtCompileTime
typedef _Scalar Scalar
typedef DelassusOperatorDenseTpl Self
typedef traits<Self>::Matrix Matrix
typedef traits<Self>::Vector Vector
typedef Eigen::LLT<Matrix> CholeskyDecomposition
typedef DelassusOperatorBase<Self> Base

Public Functions

template<typename MatrixDerived>
inline explicit DelassusOperatorDenseTpl(const Eigen::MatrixBase<MatrixDerived> &mat)
template<typename VectorLike>
inline void updateDamping(const Eigen::MatrixBase<VectorLike> &vec)
inline void updateDamping(const Scalar &mu)
template<typename MatrixLike>
inline void solveInPlace(const Eigen::MatrixBase<MatrixLike> &mat) const

Public Members

template<typename MatrixLike> mutable PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixLike) solve(const Eigen Matrix mat_tmp
CholeskyDecomposition llt
Vector damping