Template Struct DelassusOperatorSparseTpl
Defined in File delassus-operator-sparse.hpp
Inheritance Relationships
Base Type
public pinocchio::DelassusOperatorBase< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >
(Template Struct DelassusOperatorBase)
Struct Documentation
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template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>
struct DelassusOperatorSparseTpl : public pinocchio::DelassusOperatorBase<DelassusOperatorSparseTpl<_Scalar, _Options, SparseCholeskyDecomposition>> Public Types
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typedef DelassusOperatorSparseTpl Self
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typedef SparseCholeskyDecomposition CholeskyDecomposition
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typedef DelassusOperatorBase<Self> Base
Public Functions
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template<typename MatrixDerived>
inline explicit DelassusOperatorSparseTpl(const Eigen::SparseMatrixBase<MatrixDerived> &mat)
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template<typename VectorLike>
inline void updateDamping(const Eigen::MatrixBase<VectorLike> &vec)
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template<typename MatrixLike>
inline void solveInPlace(const Eigen::MatrixBase<MatrixLike> &mat) const
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typedef DelassusOperatorSparseTpl Self