| Directory: | ./ |
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| File: | include/pinocchio/math/triangular-matrix.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 12 | 12 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2022-2023 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_math_triangular_matrix_hpp__ | ||
| 6 | #define __pinocchio_math_triangular_matrix_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/macros.hpp" | ||
| 9 | |||
| 10 | #include <Eigen/Dense> | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | |||
| 15 | namespace internal | ||
| 16 | { | ||
| 17 | template< | ||
| 18 | Eigen::UpLoType info, | ||
| 19 | typename RhsMatrix, | ||
| 20 | typename Scalar = typename RhsMatrix::Scalar, | ||
| 21 | bool is_vector_at_compile_time = RhsMatrix::IsVectorAtCompileTime> | ||
| 22 | struct TriangularMatrixMatrixProduct | ||
| 23 | { | ||
| 24 | template<typename LhsMatrix, typename ResMat> | ||
| 25 | 5818 | static void run( | |
| 26 | const Eigen::MatrixBase<LhsMatrix> & lhs_mat, | ||
| 27 | const Eigen::MatrixBase<RhsMatrix> & rhs_vec, | ||
| 28 | const Eigen::MatrixBase<ResMat> & res) | ||
| 29 | { | ||
| 30 |
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5818 | res.const_cast_derived().col(0).noalias() = |
| 31 |
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5818 | lhs_mat.derived().template triangularView<info>() * rhs_vec.derived(); |
| 32 | 5818 | } | |
| 33 | }; | ||
| 34 | |||
| 35 | template<Eigen::UpLoType info, typename RhsMatrix, typename Scalar> | ||
| 36 | struct TriangularMatrixMatrixProduct<info, RhsMatrix, Scalar, false> | ||
| 37 | { | ||
| 38 | template<typename LhsMatrix, typename ResMat> | ||
| 39 | 5818 | static void run( | |
| 40 | const Eigen::MatrixBase<LhsMatrix> & lhs_mat, | ||
| 41 | const Eigen::MatrixBase<RhsMatrix> & rhs_mat, | ||
| 42 | const Eigen::MatrixBase<ResMat> & res) | ||
| 43 | { | ||
| 44 |
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5818 | res.const_cast_derived().noalias() = |
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5818 | lhs_mat.derived().template triangularView<info>() * rhs_mat.derived(); |
| 46 | 5818 | } | |
| 47 | }; | ||
| 48 | } // namespace internal | ||
| 49 | |||
| 50 | /// | ||
| 51 | /// \brief Evaluate the product of a triangular matrix times a matrix. Eigen showing a bug at this | ||
| 52 | /// level, in the case of vector entry. | ||
| 53 | /// | ||
| 54 | /// \param[in] lhs_mat Input tringular matrix | ||
| 55 | /// \param[in] rhs_mat Right hand side operand in the multplication | ||
| 56 | /// \param[in] res Resulting matrix | ||
| 57 | /// | ||
| 58 | template<Eigen::UpLoType info, typename LhsMatrix, typename RhsMatrix, typename ResMat> | ||
| 59 | 11636 | inline void triangularMatrixMatrixProduct( | |
| 60 | const Eigen::MatrixBase<LhsMatrix> & lhs_mat, | ||
| 61 | const Eigen::MatrixBase<RhsMatrix> & rhs_mat, | ||
| 62 | const Eigen::MatrixBase<ResMat> & res) | ||
| 63 | { | ||
| 64 | 11636 | internal::TriangularMatrixMatrixProduct<info, RhsMatrix>::run( | |
| 65 | 11636 | lhs_mat.derived(), rhs_mat.derived(), res.const_cast_derived()); | |
| 66 | 11636 | } | |
| 67 | |||
| 68 | } // namespace pinocchio | ||
| 69 | |||
| 70 | #endif // #ifndef __pinocchio_math_triangular_matrix_hpp__ | ||
| 71 |