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// |
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// Copyright (c) 2024 INRIA |
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#ifndef __pinocchio_algorithm_delassus_operator_dense_hpp__ |
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#define __pinocchio_algorithm_delassus_operator_dense_hpp__ |
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#include "pinocchio/algorithm/fwd.hpp" |
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#include "pinocchio/algorithm/delassus-operator-base.hpp" |
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namespace pinocchio |
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{ |
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template<typename _Scalar, int _Options> |
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struct traits<DelassusOperatorDenseTpl<_Scalar, _Options>> |
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{ |
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typedef _Scalar Scalar; |
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enum |
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{ |
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Options = _Options, |
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RowsAtCompileTime = Eigen::Dynamic |
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}; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> Matrix; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> Vector; |
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}; |
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template<typename _Scalar, int _Options> |
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struct DelassusOperatorDenseTpl |
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: DelassusOperatorBase<DelassusOperatorDenseTpl<_Scalar, _Options>> |
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{ |
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typedef _Scalar Scalar; |
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typedef DelassusOperatorDenseTpl Self; |
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enum |
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{ |
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Options = _Options, |
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RowsAtCompileTime = traits<DelassusOperatorDenseTpl>::RowsAtCompileTime |
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}; |
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typedef typename traits<Self>::Matrix Matrix; |
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typedef typename traits<Self>::Vector Vector; |
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typedef Eigen::LLT<Matrix> CholeskyDecomposition; |
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typedef DelassusOperatorBase<Self> Base; |
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template<typename MatrixDerived> |
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explicit DelassusOperatorDenseTpl(const Eigen::MatrixBase<MatrixDerived> & mat) |
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: Base(mat.rows()) |
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, delassus_matrix(mat) |
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, mat_tmp(mat.rows(), mat.cols()) |
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, llt(mat) |
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, damping(Vector::Zero(mat.rows())) |
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{ |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(mat.rows(), mat.cols()); |
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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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damping = vec; |
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mat_tmp = delassus_matrix; |
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mat_tmp += vec.asDiagonal(); |
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llt.compute(mat_tmp); |
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} |
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void updateDamping(const Scalar & mu) |
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{ |
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updateDamping(Vector::Constant(size(), 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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llt.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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typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixLike) res(mat); |
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solveInPlace(res); |
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return res; |
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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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res.const_cast_derived() = x; |
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solveInPlace(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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MatrixOut & res = res_.const_cast_derived(); |
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res.noalias() = delassus_matrix * x; |
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res.array() += damping.array() * x.array(); |
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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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typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixDerived) ReturnType; |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(x.rows(), size()); |
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ReturnType res(x.rows(), x.cols()); |
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applyOnTheRight(x, res); |
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return res; |
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} |
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Eigen::DenseIndex size() const |
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{ |
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return delassus_matrix.rows(); |
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} |
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Eigen::DenseIndex rows() const |
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{ |
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return delassus_matrix.rows(); |
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} |
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Eigen::DenseIndex cols() const |
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{ |
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return delassus_matrix.cols(); |
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} |
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Matrix matrix() const |
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{ |
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mat_tmp = delassus_matrix; |
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mat_tmp += damping.asDiagonal(); |
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return mat_tmp; |
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} |
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Matrix inverse() const |
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{ |
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Matrix res = Matrix::Identity(size(), size()); |
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llt.solveInPlace(res); |
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return res; |
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} |
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protected: |
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Matrix delassus_matrix; |
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mutable Matrix mat_tmp; |
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CholeskyDecomposition llt; |
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Vector damping; |
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}; // struct DelassusOperatorDenseTpl |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_algorithm_delassus_operator_dense_hpp__ |
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