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// |
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// Copyright (c) 2022-2023 INRIA |
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// |
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#ifndef __pinocchio_autodiff_casadi_math_triangular_matrix_hpp__ |
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#define __pinocchio_autodiff_casadi_math_triangular_matrix_hpp__ |
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#include "pinocchio/math/triangular-matrix.hpp" |
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namespace pinocchio |
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{ |
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namespace internal |
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{ |
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template<Eigen::UpLoType info, typename RhsMatrix, typename Scalar> |
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struct TriangularMatrixMatrixProduct<info, RhsMatrix, ::casadi::Matrix<Scalar>, true> |
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{ |
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template<typename LhsMatrix, typename ResMat> |
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static void run( |
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const Eigen::MatrixBase<LhsMatrix> & lhs_mat, |
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const Eigen::MatrixBase<RhsMatrix> & rhs_vec, |
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const Eigen::MatrixBase<ResMat> & res) |
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{ |
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res.const_cast_derived().col(0).noalias() = lhs_mat.derived() * rhs_vec.derived(); |
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} |
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}; |
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template<Eigen::UpLoType info, typename RhsMatrix, typename Scalar> |
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struct TriangularMatrixMatrixProduct<info, RhsMatrix, ::casadi::Matrix<Scalar>, false> |
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{ |
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template<typename LhsMatrix, typename ResMat> |
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static void run( |
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const Eigen::MatrixBase<LhsMatrix> & lhs_mat, |
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const Eigen::MatrixBase<RhsMatrix> & rhs_mat, |
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const Eigen::MatrixBase<ResMat> & res) |
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{ |
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res.const_cast_derived().noalias() = lhs_mat.derived() * rhs_mat.derived(); |
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} |
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}; |
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} // namespace internal |
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} // namespace pinocchio |
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#endif // #ifndef __pinocchio_autodiff_casadi_math_triangular_matrix_hpp__ |
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