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// Copyright (c) 2019 INRIA |
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#ifndef __pinocchio_math_matrix_block_hpp__ |
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#define __pinocchio_math_matrix_block_hpp__ |
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#include <Eigen/Core> |
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namespace pinocchio |
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{ |
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template<int NV> |
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struct SizeDepType |
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{ |
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template<class Mat> |
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struct SegmentReturn |
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{ |
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typedef typename Mat::template FixedSegmentReturnType<NV>::Type Type; |
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typedef typename Mat::template ConstFixedSegmentReturnType<NV>::Type ConstType; |
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}; |
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template<typename D> |
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static typename SegmentReturn<D>::ConstType |
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segment(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(size); |
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return mat.template segment<NV>(start); |
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} |
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template<typename D> |
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static typename SegmentReturn<D>::Type |
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segment(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(size); |
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return mat.template segment<NV>(start); |
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} |
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template<class Mat> |
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struct ColsReturn |
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{ |
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typedef typename Mat::template NColsBlockXpr<NV>::Type Type; |
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typedef typename Mat::template ConstNColsBlockXpr<NV>::Type ConstType; |
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}; |
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template<typename D> |
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static typename ColsReturn<D>::ConstType |
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middleCols(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(size); |
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return mat.template middleCols<NV>(start); |
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} |
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template<typename D> |
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static typename ColsReturn<D>::Type |
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middleCols(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(size); |
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return mat.template middleCols<NV>(start); |
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} |
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template<class Mat> |
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struct RowsReturn |
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{ |
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typedef typename Mat::template NRowsBlockXpr<NV>::Type Type; |
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typedef typename Mat::template ConstNRowsBlockXpr<NV>::Type ConstType; |
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}; |
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template<typename D> |
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static typename RowsReturn<D>::ConstType |
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middleRows(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(size); |
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return mat.template middleRows<NV>(start); |
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} |
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template<typename D> |
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static typename RowsReturn<D>::Type |
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middleRows(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(size); |
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return mat.template middleRows<NV>(start); |
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} |
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template<class Mat> |
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struct BlockReturn |
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{ |
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typedef Eigen::Block<Mat, NV, NV> Type; |
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typedef const Eigen::Block<const Mat, NV, NV> ConstType; |
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}; |
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template<typename D> |
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static typename BlockReturn<D>::ConstType |
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block(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index row_id, |
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typename Eigen::DenseBase<D>::Index col_id, |
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typename Eigen::DenseBase<D>::Index row_size_block = NV, |
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typename Eigen::DenseBase<D>::Index col_size_block = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(row_size_block); |
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PINOCCHIO_UNUSED_VARIABLE(col_size_block); |
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return mat.template block<NV,NV>(row_id,col_id); |
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} |
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template<typename D> |
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static typename BlockReturn<D>::Type |
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block(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index row_id, |
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typename Eigen::DenseBase<D>::Index col_id, |
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typename Eigen::DenseBase<D>::Index row_size_block = NV, |
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typename Eigen::DenseBase<D>::Index col_size_block = NV) |
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{ |
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PINOCCHIO_UNUSED_VARIABLE(row_size_block); |
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PINOCCHIO_UNUSED_VARIABLE(col_size_block); |
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return mat.template block<NV,NV>(row_id,col_id); |
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} |
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}; |
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template<> |
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struct SizeDepType<Eigen::Dynamic> |
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{ |
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template<class Mat> |
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struct SegmentReturn |
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{ |
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typedef typename Mat::SegmentReturnType Type; |
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typedef typename Mat::ConstSegmentReturnType ConstType; |
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}; |
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template<typename D> |
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static typename SegmentReturn<D>::ConstType |
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segment(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size) |
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{ |
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return mat.segment(start,size); |
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} |
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template<typename D> |
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static typename SegmentReturn<D>::Type |
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segment(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size) |
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{ |
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return mat.segment(start,size); |
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} |
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template<class Mat> |
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struct ColsReturn |
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{ |
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typedef typename Mat::ColsBlockXpr Type; |
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typedef typename Mat::ConstColsBlockXpr ConstType; |
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}; |
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template<typename D> |
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static typename ColsReturn<D>::ConstType |
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middleCols(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size) |
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{ |
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return mat.middleCols(start,size); |
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} |
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template<typename D> |
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static typename ColsReturn<D>::Type |
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middleCols(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size) |
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{ |
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return mat.middleCols(start,size); |
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} |
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template<class Mat> |
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struct RowsReturn |
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{ |
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typedef typename Mat::RowsBlockXpr Type; |
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typedef typename Mat::ConstRowsBlockXpr ConstType; |
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}; |
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template<typename D> |
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static typename RowsReturn<D>::ConstType |
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middleRows(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size) |
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{ |
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return mat.middleRows(start,size); |
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} |
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template<typename D> |
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static typename RowsReturn<D>::Type |
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middleRows(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index start, |
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typename Eigen::DenseBase<D>::Index size) |
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{ |
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return mat.middleRows(start,size); |
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} |
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template<class Mat> |
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struct BlockReturn |
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{ |
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typedef Eigen::Block<Mat> Type; |
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typedef const Eigen::Block<const Mat> ConstType; |
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}; |
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template<typename D> |
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static typename BlockReturn<D>::ConstType |
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block(const Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index row_id, |
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typename Eigen::DenseBase<D>::Index col_id, |
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typename Eigen::DenseBase<D>::Index row_size_block, |
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typename Eigen::DenseBase<D>::Index col_size_block) |
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{ |
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return mat.block(row_id,col_id,row_size_block,col_size_block); |
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} |
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template<typename D> |
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static typename BlockReturn<D>::Type |
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block(Eigen::MatrixBase<D> & mat, |
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typename Eigen::DenseBase<D>::Index row_id, |
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typename Eigen::DenseBase<D>::Index col_id, |
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typename Eigen::DenseBase<D>::Index row_size_block, |
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typename Eigen::DenseBase<D>::Index col_size_block) |
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{ |
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return mat.block(row_id,col_id,row_size_block,col_size_block); |
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} |
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}; |
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} |
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#endif // ifndef __pinocchio_math_matrix_block_hpp__ |