Collaboration diagram for DelassusOperatorBase< DelassusOperatorDerived >:

Public Types
typedef PowerIterationAlgoTpl< Vector >	PowerIterationAlgo

typedef traits< DelassusOperatorDerived >::Scalar	Scalar

typedef traits< DelassusOperatorDerived >::Vector	Vector

Public Member Functions
	DelassusOperatorBase (const Eigen::DenseIndex size)

template<typename MatrixIn , typename MatrixOut >
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

template<typename VectorLike >
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

template<typename VectorLike1 , typename VectorLike2 >
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

DelassusOperatorDerived &	derived ()

const DelassusOperatorDerived &	derived () const

PowerIterationAlgo &	getPowerIterationAlgo ()

const PowerIterationAlgo &	getPowerIterationAlgo () const

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

Eigen::DenseIndex	rows () const

Eigen::DenseIndex	size () const

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

template<typename MatrixLike >
MatrixLike	solve (const Eigen::MatrixBase< MatrixLike > &mat) const

template<typename MatrixLike >
void	solveInPlace (const Eigen::MatrixBase< MatrixLike > &mat) const

template<typename VectorLike >
void	updateDamping (const Eigen::MatrixBase< VectorLike > &vec)

void	updateDamping (const Scalar mu)

Protected Attributes
PowerIterationAlgo	power_iteration_algo

Detailed Description

template<typename DelassusOperatorDerived>
struct pinocchio::DelassusOperatorBase< DelassusOperatorDerived >

Definition at line 15 of file delassus-operator-base.hpp.

Member Typedef Documentation

◆ PowerIterationAlgo

template<typename DelassusOperatorDerived >

typedef PowerIterationAlgoTpl<Vector> PowerIterationAlgo

Definition at line 19 of file delassus-operator-base.hpp.

◆ Scalar

template<typename DelassusOperatorDerived >

typedef traits<DelassusOperatorDerived>::Scalar Scalar

Definition at line 17 of file delassus-operator-base.hpp.

◆ Vector

template<typename DelassusOperatorDerived >

typedef traits<DelassusOperatorDerived>::Vector Vector

Definition at line 18 of file delassus-operator-base.hpp.

Constructor & Destructor Documentation

◆ DelassusOperatorBase()

template<typename DelassusOperatorDerived >

DelassusOperatorBase ( const Eigen::DenseIndex size )

inlineexplicit

Definition at line 30 of file delassus-operator-base.hpp.

Member Function Documentation

◆ applyOnTheRight()

template<typename DelassusOperatorDerived >

template<typename MatrixIn , typename MatrixOut >

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

inline

Definition at line 140 of file delassus-operator-base.hpp.

◆ cols()

template<typename DelassusOperatorDerived >

Eigen::DenseIndex cols ( ) const

inline

Definition at line 161 of file delassus-operator-base.hpp.

◆ computeLargestEigenValue() [1/2]

template<typename DelassusOperatorDerived >

Scalar computeLargestEigenValue	(	const bool	reset = `true`,
		const int	max_it = `10`,
		const Scalar	rel_tol = `Scalar(1e-8)`
	)		const

inline

Definition at line 35 of file delassus-operator-base.hpp.

◆ computeLargestEigenValue() [2/2]

template<typename DelassusOperatorDerived >

template<typename VectorLike >

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

inline

Definition at line 49 of file delassus-operator-base.hpp.

◆ computeLowestEigenValue() [1/2]

template<typename DelassusOperatorDerived >

Scalar computeLowestEigenValue	(	const bool	reset = `true`,
		const bool	compute_largest = `true`,
		const int	max_it = `10`,
		const Scalar	rel_tol = `Scalar(1e-8)`
	)		const

inline

Definition at line 67 of file delassus-operator-base.hpp.

◆ computeLowestEigenValue() [2/2]

template<typename DelassusOperatorDerived >

template<typename VectorLike1 , typename VectorLike2 >

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