Template Struct DelassusOperatorSparseTpl

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>
struct DelassusOperatorSparseTpl : public pinocchio::DelassusOperatorBase<DelassusOperatorSparseTpl<_Scalar, _Options, SparseCholeskyDecomposition>>

Public Types

Values:

enumerator Options
enumerator RowsAtCompileTime
typedef DelassusOperatorSparseTpl Self
typedef traits<Self>::Scalar Scalar
typedef traits<Self>::SparseMatrix SparseMatrix
typedef traits<Self>::Vector Vector
typedef traits<Self>::DenseMatrix DenseMatrix
typedef SparseCholeskyDecomposition CholeskyDecomposition
typedef DelassusOperatorBase<Self> Base

Public Functions

template<typename MatrixDerived>
inline explicit DelassusOperatorSparseTpl(const Eigen::SparseMatrixBase<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 SparseMatrix delassus_matrix_plus_damping
CholeskyDecomposition llt
Vector damping
mutable Vector tmp