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
DelassusOperatorDenseTpl< _Scalar, _Options > Struct Template Reference
Inheritance diagram for DelassusOperatorDenseTpl< _Scalar, _Options >:
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Collaboration diagram for DelassusOperatorDenseTpl< _Scalar, _Options >:
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Public Types

enum  { Options = _Options , RowsAtCompileTime = traits<DelassusOperatorDenseTpl>::RowsAtCompileTime }
 
typedef DelassusOperatorBase< Self > Base
 
typedef Eigen::LLT< Matrix > CholeskyDecomposition
 
typedef traits< Self >::Matrix Matrix
 
typedef _Scalar Scalar
 
typedef DelassusOperatorDenseTpl Self
 
typedef traits< Self >::Vector Vector
 
- Public Types inherited from DelassusOperatorBase< DelassusOperatorDenseTpl< _Scalar, _Options > >
typedef PowerIterationAlgoTpl< Vector > PowerIterationAlgo
 
typedef traits< DelassusOperatorDenseTpl< _Scalar, _Options > >::Scalar Scalar
 
typedef traits< DelassusOperatorDenseTpl< _Scalar, _Options > >::Vector Vector
 

Public Member Functions

template<typename MatrixDerived >
 DelassusOperatorDenseTpl (const Eigen::MatrixBase< MatrixDerived > &mat)
 
template<typename MatrixIn , typename MatrixOut >
void applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res_) const
 
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 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)
 
- Public Member Functions inherited from DelassusOperatorBase< DelassusOperatorDenseTpl< _Scalar, _Options > >
 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
 
DelassusOperatorDenseTpl< _Scalar, _Options > & derived ()
 
const DelassusOperatorDenseTpl< _Scalar, _Options > & 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

Vector damping
 
Matrix delassus_matrix
 
CholeskyDecomposition llt
 
Matrix mat_tmp
 
- Protected Attributes inherited from DelassusOperatorBase< DelassusOperatorDenseTpl< _Scalar, _Options > >
PowerIterationAlgo power_iteration_algo
 

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::DelassusOperatorDenseTpl< _Scalar, _Options >

Definition at line 29 of file delassus-operator-dense.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>
typedef DelassusOperatorBase<Self> Base

Definition at line 43 of file delassus-operator-dense.hpp.

◆ CholeskyDecomposition

template<typename _Scalar , int _Options>
typedef Eigen::LLT<Matrix> CholeskyDecomposition

Definition at line 42 of file delassus-operator-dense.hpp.

◆ Matrix

template<typename _Scalar , int _Options>
typedef traits<Self>::Matrix Matrix

Definition at line 40 of file delassus-operator-dense.hpp.

◆ Scalar

template<typename _Scalar , int _Options>
typedef _Scalar Scalar

Definition at line 32 of file delassus-operator-dense.hpp.

◆ Self

template<typename _Scalar , int _Options>
typedef DelassusOperatorDenseTpl Self

Definition at line 33 of file delassus-operator-dense.hpp.

◆ Vector

template<typename _Scalar , int _Options>
typedef traits<Self>::Vector Vector

Definition at line 41 of file delassus-operator-dense.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>
anonymous enum

Definition at line 34 of file delassus-operator-dense.hpp.

Constructor & Destructor Documentation

◆ DelassusOperatorDenseTpl()

template<typename _Scalar , int _Options>
template<typename MatrixDerived >
DelassusOperatorDenseTpl ( const Eigen::MatrixBase< MatrixDerived > &  mat)
inlineexplicit

Definition at line 46 of file delassus-operator-dense.hpp.

Member Function Documentation

◆ applyOnTheRight()

template<typename _Scalar , int _Options>
template<typename MatrixIn , typename MatrixOut >
void applyOnTheRight ( const Eigen::MatrixBase< MatrixIn > &  x,
const Eigen::MatrixBase< MatrixOut > &  res_ 
) const
inline

Definition at line 95 of file delassus-operator-dense.hpp.

◆ cols()

template<typename _Scalar , int _Options>
Eigen::DenseIndex cols ( ) const
inline

Definition at line 123 of file delassus-operator-dense.hpp.

◆ inverse()

template<typename _Scalar , int _Options>
Matrix inverse ( ) const
inline

Definition at line 135 of file delassus-operator-dense.hpp.

◆ matrix()

template<typename _Scalar , int _Options>
Matrix matrix ( ) const
inline

Definition at line 128 of file delassus-operator-dense.hpp.

◆ operator*()

template<typename _Scalar , int _Options>
template<typename MatrixDerived >
MatrixDerived operator* ( const Eigen::MatrixBase< MatrixDerived > &  x) const
inline

Definition at line 105 of file delassus-operator-dense.hpp.

◆ rows()

template<typename _Scalar , int _Options>
Eigen::DenseIndex rows ( ) const
inline

Definition at line 119 of file delassus-operator-dense.hpp.

◆ size()

template<typename _Scalar , int _Options>
Eigen::DenseIndex size ( ) const
inline

Definition at line 115 of file delassus-operator-dense.hpp.

◆ solve() [1/2]

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

Definition at line 86 of file delassus-operator-dense.hpp.

◆ solve() [2/2]

template<typename _Scalar , int _Options>
template<typename MatrixLike >
MatrixLike solve ( const Eigen::MatrixBase< MatrixLike > &  mat) const
inline

Definition at line 78 of file delassus-operator-dense.hpp.

◆ solveInPlace()

template<typename _Scalar , int _Options>
template<typename MatrixLike >
void solveInPlace ( const Eigen::MatrixBase< MatrixLike > &  mat) const
inline

Definition at line 71 of file delassus-operator-dense.hpp.

◆ updateDamping() [1/2]

template<typename _Scalar , int _Options>
template<typename VectorLike >
void updateDamping ( const Eigen::MatrixBase< VectorLike > &  vec)
inline

Definition at line 57 of file delassus-operator-dense.hpp.

◆ updateDamping() [2/2]

template<typename _Scalar , int _Options>
void updateDamping ( const Scalar &  mu)
inline

Definition at line 65 of file delassus-operator-dense.hpp.

Member Data Documentation

◆ damping

template<typename _Scalar , int _Options>
Vector damping
protected

Definition at line 146 of file delassus-operator-dense.hpp.

◆ delassus_matrix

template<typename _Scalar , int _Options>
Matrix delassus_matrix
protected

Definition at line 143 of file delassus-operator-dense.hpp.

◆ llt

template<typename _Scalar , int _Options>
CholeskyDecomposition llt
protected

Definition at line 145 of file delassus-operator-dense.hpp.

◆ mat_tmp

template<typename _Scalar , int _Options>
Matrix mat_tmp
mutableprotected

Definition at line 144 of file delassus-operator-dense.hpp.

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