OptCholesky.hh

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/*
 * Copyright 2009, 2010,
 *
 * Andrei     Herdt
 * Francois   Keith
 * Olivier    Stasse
 *
 * JRL, CNRS/AIST
 *
 * This file is part of walkGenJrl.
 * walkGenJrl is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * walkGenJrl is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Lesser Public License for more details.
 * You should have received a copy of the GNU Lesser General Public License
 * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  Research carried out within the scope of the
 *  Joint Japanese-French Robotics Laboratory (JRL)
 */
/* \file Cholesky.h
   \brief This object provides the Cholesky decomposition
   of a symmetric positive-definite matrix.
   This one is especially designed for QP resolution and handle constraints.
*/
 
#ifndef _CHOLESKY_DEC_H_
#define _CHOLESKY_DEC_H_
 
#include <vector>
 
using namespace ::std;
 
namespace PatternGeneratorJRL {
class OptCholesky {
 public:
  OptCholesky(unsigned int lNbMaxOfConstraints, unsigned int lCardU,
              unsigned int mode);
 
  ~OptCholesky();
 
  void SetA(double *aA, unsigned int lNbOfConstraints);
 
  int AddActiveConstraints(vector<unsigned int> &lConstraints);
 
  int AddActiveConstraint(unsigned int aConstraint);
 
  std::size_t CurrentNumberOfRows();
 
  int ComputeNormalCholeskyOnANormal();
 
  int ComputeInverseCholeskyNormal(int mode);
 
  void SetL(double *aL);
 
  void SetiL(double *aiL);
 
  void SetToZero();
 
  void SetMode(unsigned int mode);
 
  static const unsigned int MODE_NORMAL = 0;
  static const unsigned int MODE_FORTRAN = 1;
 
 private:
  unsigned int m_NbMaxOfConstraints;
 
  unsigned int m_CardU;
 
  double *m_A;
 
  double *m_L;
 
  double *m_iL;
 
  unsigned int m_UpdateMode;
 
  unsigned int m_NbOfConstraints;
 
  vector<unsigned int> m_SetActiveConstraints;
 
  int UpdateCholeskyMatrixFortran();
 
  int UpdateCholeskyMatrixNormal();
 
  void FreeMemory();
 
  void InitializeInternalVariables();
};
}  // namespace PatternGeneratorJRL
 
#endif /* _CHOLESKY_DEC_H_ */