pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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Public Types | Public Member Functions | Protected Attributes | List of all members
DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > Struct Template Reference
Inheritance diagram for DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >:
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Collaboration diagram for DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >:
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Public Types

enum  { RowsAtCompileTime = traits<DelassusCholeskyExpressionTpl>::RowsAtCompileTime }
 
typedef DelassusOperatorBase< Self > Base
 
typedef _ContactCholeskyDecomposition ContactCholeskyDecomposition
 
typedef ContactCholeskyDecomposition::Matrix Matrix
 
typedef ContactCholeskyDecomposition::RowMatrix RowMatrix
 
typedef SizeDepType< Eigen::Dynamic >::template BlockReturn< RowMatrix >::Type RowMatrixBlockXpr
 
typedef SizeDepType< Eigen::Dynamic >::template BlockReturn< RowMatrix >::ConstType RowMatrixConstBlockXpr
 
typedef ContactCholeskyDecomposition::Scalar Scalar
 
typedef DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > Self
 
typedef ContactCholeskyDecomposition::Vector Vector
 
- Public Types inherited from DelassusOperatorBase< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >
typedef PowerIterationAlgoTpl< Vector > PowerIterationAlgo
 
typedef traits< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >::Scalar Scalar
 
typedef traits< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >::Vector Vector
 

Public Member Functions

 DelassusCholeskyExpressionTpl (const ContactCholeskyDecomposition &self)
 
template<typename MatrixIn , typename MatrixOut >
void applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res) const
 
const ContactCholeskyDecomposition & cholesky () const
 Returns the Constraint Cholesky decomposition associated to this DelassusCholeskyExpression.
 
Eigen::DenseIndex cols () const
 
Matrix inverse () const
 
Matrix matrix () const
 
template<typename MatrixDerived >
MatrixDerived operator* (const Eigen::MatrixBase< MatrixDerived > &x) const
 
Eigen::DenseIndex rows () const
 
Eigen::DenseIndex size () const
 
template<typename MatrixDerived >
MatrixDerived solve (const Eigen::MatrixBase< MatrixDerived > &x) const
 
template<typename MatrixDerivedIn , typename MatrixDerivedOut >
void solve (const Eigen::MatrixBase< MatrixDerivedIn > &x, const Eigen::MatrixBase< MatrixDerivedOut > &res) const
 
template<typename MatrixDerived >
void solveInPlace (const Eigen::MatrixBase< MatrixDerived > &x) const
 
template<typename VectorLike >
void updateDamping (const Eigen::MatrixBase< VectorLike > &mus)
 Add a damping term to the diagonal of the Delassus matrix. The damping terms should be all positives.
 
void updateDamping (const Scalar &mu)
 Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive.
 
- Public Member Functions inherited from DelassusOperatorBase< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >
 DelassusOperatorBase (const Eigen::DenseIndex size)
 
void applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res) const
 
Eigen::DenseIndex cols () const
 
Scalar computeLargestEigenValue (const bool reset=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
 
Scalar computeLargestEigenValue (const Eigen::PlainObjectBase< VectorLike > &largest_eigenvector_est, const bool reset=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
 
Scalar computeLowestEigenValue (const bool reset=true, const bool compute_largest=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
 
Scalar computeLowestEigenValue (const Eigen::PlainObjectBase< VectorLike1 > &largest_eigenvector_est, const Eigen::PlainObjectBase< VectorLike2 > &lowest_eigenvector_est, const bool reset=true, const bool compute_largest=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
 
DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > & derived ()
 
const DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > & derived () const
 
PowerIterationAlgo & getPowerIterationAlgo ()
 
const PowerIterationAlgo & getPowerIterationAlgo () const
 
MatrixDerived operator* (const Eigen::MatrixBase< MatrixDerived > &x) const
 
Eigen::DenseIndex rows () const
 
Eigen::DenseIndex size () const
 
void solve (const Eigen::MatrixBase< MatrixDerivedIn > &x, const Eigen::MatrixBase< MatrixDerivedOut > &res) const
 
MatrixLike solve (const Eigen::MatrixBase< MatrixLike > &mat) const
 
void solveInPlace (const Eigen::MatrixBase< MatrixLike > &mat) const
 
void updateDamping (const Eigen::MatrixBase< VectorLike > &vec)
 
void updateDamping (const Scalar mu)
 

Protected Attributes

const ContactCholeskyDecomposition & self
 
- Protected Attributes inherited from DelassusOperatorBase< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >
PowerIterationAlgo power_iteration_algo
 

Detailed Description

template<typename _ContactCholeskyDecomposition>
struct pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >

Definition at line 508 of file contact-cholesky.hpp.

Member Typedef Documentation

◆ Base

template<typename _ContactCholeskyDecomposition >
typedef DelassusOperatorBase<Self> Base

Definition at line 517 of file contact-cholesky.hpp.

◆ ContactCholeskyDecomposition

template<typename _ContactCholeskyDecomposition >
typedef _ContactCholeskyDecomposition ContactCholeskyDecomposition

Definition at line 511 of file contact-cholesky.hpp.

◆ Matrix

template<typename _ContactCholeskyDecomposition >
typedef ContactCholeskyDecomposition::Matrix Matrix

Definition at line 514 of file contact-cholesky.hpp.

◆ RowMatrix

template<typename _ContactCholeskyDecomposition >
typedef ContactCholeskyDecomposition::RowMatrix RowMatrix

Definition at line 515 of file contact-cholesky.hpp.

◆ RowMatrixBlockXpr

template<typename _ContactCholeskyDecomposition >
typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::Type RowMatrixBlockXpr

Definition at line 520 of file contact-cholesky.hpp.

◆ RowMatrixConstBlockXpr

template<typename _ContactCholeskyDecomposition >
typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::ConstType RowMatrixConstBlockXpr

Definition at line 522 of file contact-cholesky.hpp.

◆ Scalar

template<typename _ContactCholeskyDecomposition >
typedef ContactCholeskyDecomposition::Scalar Scalar

Definition at line 512 of file contact-cholesky.hpp.

◆ Self

template<typename _ContactCholeskyDecomposition >
typedef DelassusCholeskyExpressionTpl<_ContactCholeskyDecomposition> Self

Definition at line 516 of file contact-cholesky.hpp.

◆ Vector

template<typename _ContactCholeskyDecomposition >
typedef ContactCholeskyDecomposition::Vector Vector

Definition at line 513 of file contact-cholesky.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _ContactCholeskyDecomposition >
anonymous enum

Definition at line 524 of file contact-cholesky.hpp.

Constructor & Destructor Documentation

◆ DelassusCholeskyExpressionTpl()

template<typename _ContactCholeskyDecomposition >
DelassusCholeskyExpressionTpl ( const ContactCholeskyDecomposition &  self)
inlineexplicit

Definition at line 529 of file contact-cholesky.hpp.

Member Function Documentation

◆ applyOnTheRight()

template<typename _ContactCholeskyDecomposition >
template<typename MatrixIn , typename MatrixOut >
void applyOnTheRight ( const Eigen::MatrixBase< MatrixIn > &  x,
const Eigen::MatrixBase< MatrixOut > &  res 
) const
inline

Definition at line 536 of file contact-cholesky.hpp.

◆ cholesky()

template<typename _ContactCholeskyDecomposition >
const ContactCholeskyDecomposition & cholesky ( ) const
inline

Returns the Constraint Cholesky decomposition associated to this DelassusCholeskyExpression.

Definition at line 619 of file contact-cholesky.hpp.

◆ cols()

template<typename _ContactCholeskyDecomposition >
Eigen::DenseIndex cols ( ) const
inline

Definition at line 667 of file contact-cholesky.hpp.

◆ inverse()

template<typename _ContactCholeskyDecomposition >
Matrix inverse ( ) const
inline

Definition at line 629 of file contact-cholesky.hpp.

◆ matrix()

template<typename _ContactCholeskyDecomposition >
Matrix matrix ( ) const
inline

Definition at line 624 of file contact-cholesky.hpp.

◆ operator*()

template<typename _ContactCholeskyDecomposition >
template<typename MatrixDerived >
MatrixDerived operator* ( const Eigen::MatrixBase< MatrixDerived > &  x) const
inline

Definition at line 574 of file contact-cholesky.hpp.

◆ rows()

template<typename _ContactCholeskyDecomposition >
Eigen::DenseIndex rows ( ) const
inline

Definition at line 663 of file contact-cholesky.hpp.

◆ size()

template<typename _ContactCholeskyDecomposition >
Eigen::DenseIndex size ( ) const
inline

Definition at line 659 of file contact-cholesky.hpp.

◆ solve() [1/2]

template<typename _ContactCholeskyDecomposition >
template<typename MatrixDerived >
MatrixDerived solve ( const Eigen::MatrixBase< MatrixDerived > &  x) const
inline

Definition at line 609 of file contact-cholesky.hpp.

◆ solve() [2/2]

template<typename _ContactCholeskyDecomposition >
template<typename MatrixDerivedIn , typename MatrixDerivedOut >
void solve ( const Eigen::MatrixBase< MatrixDerivedIn > &  x,
const Eigen::MatrixBase< MatrixDerivedOut > &  res 
) const
inline

Definition at line 599 of file contact-cholesky.hpp.

◆ solveInPlace()

template<typename _ContactCholeskyDecomposition >
template<typename MatrixDerived >
void solveInPlace ( const Eigen::MatrixBase< MatrixDerived > &  x) const
inline

Definition at line 583 of file contact-cholesky.hpp.

◆ updateDamping() [1/2]

template<typename _ContactCholeskyDecomposition >
template<typename VectorLike >
void updateDamping ( const Eigen::MatrixBase< VectorLike > &  mus)
inline

Add a damping term to the diagonal of the Delassus matrix. The damping terms should be all positives.

Parameters
[in]musVector of positive regularization factor allowing to enforce the definite positiveness of the matrix.

Definition at line 642 of file contact-cholesky.hpp.

◆ updateDamping() [2/2]

template<typename _ContactCholeskyDecomposition >
void updateDamping ( const Scalar &  mu)
inline

Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive.

Parameters
[in]muRegularization factor allowing to enforce the definite positiveness of the matrix.

Definition at line 654 of file contact-cholesky.hpp.

Member Data Documentation

◆ self

template<typename _ContactCholeskyDecomposition >
const ContactCholeskyDecomposition& self
protected

Definition at line 673 of file contact-cholesky.hpp.

The documentation for this struct was generated from the following file: