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// |
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// Copyright (c) 2024 INRIA |
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// |
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#ifndef __pinocchio_algorithm_delassus_operator_base_hpp__ |
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#define __pinocchio_algorithm_delassus_operator_base_hpp__ |
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#include "pinocchio/algorithm/fwd.hpp" |
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#include "pinocchio/math/eigenvalues.hpp" |
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namespace pinocchio |
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{ |
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template<typename DelassusOperatorDerived> |
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struct DelassusOperatorBase |
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{ |
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typedef typename traits<DelassusOperatorDerived>::Scalar Scalar; |
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typedef typename traits<DelassusOperatorDerived>::Vector Vector; |
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typedef PowerIterationAlgoTpl<Vector> PowerIterationAlgo; |
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DelassusOperatorDerived & derived() |
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{ |
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return static_cast<DelassusOperatorDerived &>(*this); |
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} |
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const DelassusOperatorDerived & derived() const |
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{ |
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return static_cast<const DelassusOperatorDerived &>(*this); |
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} |
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explicit DelassusOperatorBase(const Eigen::DenseIndex size) |
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: power_iteration_algo(size) |
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{ |
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} |
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Scalar computeLargestEigenValue( |
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const bool reset = true, const int max_it = 10, const Scalar rel_tol = Scalar(1e-8)) const |
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{ |
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power_iteration_algo.max_it = max_it; |
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power_iteration_algo.rel_tol = rel_tol; |
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if (reset) |
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power_iteration_algo.reset(); |
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power_iteration_algo.run(derived()); |
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return power_iteration_algo.largest_eigen_value; |
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} |
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template<typename VectorLike> |
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Scalar computeLargestEigenValue( |
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const Eigen::PlainObjectBase<VectorLike> & largest_eigenvector_est, |
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const bool reset = true, |
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const int max_it = 10, |
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const Scalar rel_tol = Scalar(1e-8)) const |
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{ |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(largest_eigenvector_est.size(), size()); |
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power_iteration_algo.max_it = max_it; |
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power_iteration_algo.rel_tol = rel_tol; |
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if (reset) |
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power_iteration_algo.reset(); |
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power_iteration_algo.principal_eigen_vector = largest_eigenvector_est; |
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power_iteration_algo.run(derived()); |
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return power_iteration_algo.largest_eigen_value; |
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} |
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Scalar computeLowestEigenValue( |
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const bool reset = true, |
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const bool compute_largest = true, |
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const int max_it = 10, |
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const Scalar rel_tol = Scalar(1e-8)) const |
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{ |
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power_iteration_algo.max_it = max_it; |
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power_iteration_algo.rel_tol = rel_tol; |
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if (reset) |
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power_iteration_algo.reset(); |
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power_iteration_algo.lowest(derived(), compute_largest); |
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return power_iteration_algo.lowest_eigen_value; |
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} |
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template<typename VectorLike1, typename VectorLike2> |
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Scalar computeLowestEigenValue( |
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const Eigen::PlainObjectBase<VectorLike1> & largest_eigenvector_est, |
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const Eigen::PlainObjectBase<VectorLike2> & lowest_eigenvector_est, |
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const bool reset = true, |
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const bool compute_largest = true, |
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const int max_it = 10, |
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const Scalar rel_tol = Scalar(1e-8)) const |
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{ |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(largest_eigenvector_est.size(), size()); |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(lowest_eigenvector_est.size(), size()); |
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power_iteration_algo.max_it = max_it; |
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power_iteration_algo.rel_tol = rel_tol; |
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if (reset) |
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power_iteration_algo.reset(); |
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power_iteration_algo.principal_eigen_vector = largest_eigenvector_est; |
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power_iteration_algo.lowest_eigen_vector = lowest_eigenvector_est; |
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power_iteration_algo.lowest(derived(), compute_largest); |
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return power_iteration_algo.lowest_eigen_value; |
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} |
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template<typename VectorLike> |
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void updateDamping(const Eigen::MatrixBase<VectorLike> & vec) |
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{ |
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derived().updateDamping(vec.derived()); |
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} |
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void updateDamping(const Scalar mu) |
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{ |
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derived().updateDamping(mu); |
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} |
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template<typename MatrixLike> |
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void solveInPlace(const Eigen::MatrixBase<MatrixLike> & mat) const |
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{ |
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derived().solveInPlace(mat.const_cast_derived()); |
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} |
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template<typename MatrixLike> |
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typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixLike) |
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solve(const Eigen::MatrixBase<MatrixLike> & mat) const |
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{ |
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return derived().solve(mat); |
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} |
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template<typename MatrixDerivedIn, typename MatrixDerivedOut> |
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void solve( |
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const Eigen::MatrixBase<MatrixDerivedIn> & x, |
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const Eigen::MatrixBase<MatrixDerivedOut> & res) const |
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{ |
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derived().solve(x.derived(), res.const_cast_derived()); |
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} |
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template<typename MatrixIn, typename MatrixOut> |
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void applyOnTheRight( |
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const Eigen::MatrixBase<MatrixIn> & x, const Eigen::MatrixBase<MatrixOut> & res) const |
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{ |
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derived().applyOnTheRight(x.derived(), res.const_cast_derived()); |
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} |
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template<typename MatrixDerived> |
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typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixDerived) |
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operator*(const Eigen::MatrixBase<MatrixDerived> & x) const |
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{ |
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return derived() * x.derived(); |
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} |
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Eigen::DenseIndex size() const |
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{ |
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return derived().size(); |
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} |
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Eigen::DenseIndex rows() const |
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{ |
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return derived().rows(); |
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} |
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Eigen::DenseIndex cols() const |
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{ |
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return derived().cols(); |
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} |
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PowerIterationAlgo & getPowerIterationAlgo() |
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{ |
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return power_iteration_algo; |
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} |
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const PowerIterationAlgo & getPowerIterationAlgo() const |
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{ |
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return power_iteration_algo; |
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} |
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protected: |
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mutable PowerIterationAlgo power_iteration_algo; |
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}; // struct DelassusOperatorBase |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_algorithm_delassus_operator_base_hpp__ |
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