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// |
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// Copyright (c) 2024 INRIA |
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// |
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#ifndef __pinocchio_math_gram_schmidt_orthonormalisation_hpp__ |
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#define __pinocchio_math_gram_schmidt_orthonormalisation_hpp__ |
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#include "pinocchio/math/fwd.hpp" |
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#include <Eigen/Core> |
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namespace pinocchio |
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{ |
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/// \brief Perform the Gram-Schmidt orthonormalisation on the input/output vector for a given |
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/// input basis |
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/// |
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/// \param[in] basis Orthonormal basis |
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/// \param[in,out] vec Vector to orthonomarlize wrt the input basis |
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/// |
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template<typename MatrixType, typename VectorType> |
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void orthonormalisation( |
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const Eigen::MatrixBase<MatrixType> & basis, const Eigen::MatrixBase<VectorType> & vec_) |
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{ |
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typedef typename VectorType::Scalar Scalar; |
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VectorType & vec = vec_.const_cast_derived(); |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(basis.rows(), vec.size()); |
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assert((basis.transpose() * basis).isIdentity() && "The input basis is not orthonormal."); |
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for (Eigen::DenseIndex col_id = 0; col_id < basis.cols(); ++col_id) |
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{ |
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const auto col = basis.col(col_id); |
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const Scalar alpha = col.dot(vec); |
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vec -= alpha * col; |
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} |
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assert((basis.transpose() * vec).isZero()); |
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} |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_math_gram_schmidt_orthonormalisation_hpp__ |
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