DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > Struct Template Reference

Inheritance diagram for DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >:

Collaboration diagram for DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >:

Public Types
enum	{ RowsAtCompileTime = traits<DelassusCholeskyExpressionTpl>::RowsAtCompileTime }
typedef DelassusOperatorBase< Self >	Base
typedef _ContactCholeskyDecomposition	ContactCholeskyDecomposition
typedef ContactCholeskyDecomposition::Matrix	Matrix
typedef ContactCholeskyDecomposition::RowMatrix	RowMatrix
typedef SizeDepType< Eigen::Dynamic >::template BlockReturn< RowMatrix >::Type	RowMatrixBlockXpr
typedef SizeDepType< Eigen::Dynamic >::template BlockReturn< RowMatrix >::ConstType	RowMatrixConstBlockXpr
typedef ContactCholeskyDecomposition::Scalar	Scalar
typedef DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >	Self
typedef ContactCholeskyDecomposition::Vector	Vector
Public Types inherited from DelassusOperatorBase< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >
typedef PowerIterationAlgoTpl< Vector >	PowerIterationAlgo
typedef traits< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >::Scalar	Scalar
typedef traits< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >::Vector	Vector

Public Member Functions
	DelassusCholeskyExpressionTpl (const ContactCholeskyDecomposition &self)
template<typename MatrixIn , typename MatrixOut >
void	applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res) const
const ContactCholeskyDecomposition &	cholesky () const
	Returns the Constraint Cholesky decomposition associated to this DelassusCholeskyExpression.
Eigen::DenseIndex	cols () const
Matrix	inverse () const
Matrix	matrix () const
template<typename MatrixDerived >
MatrixDerived	operator* (const Eigen::MatrixBase< MatrixDerived > &x) const
Eigen::DenseIndex	rows () const
Eigen::DenseIndex	size () const
template<typename MatrixDerived >
MatrixDerived	solve (const Eigen::MatrixBase< MatrixDerived > &x) const
template<typename MatrixDerivedIn , typename MatrixDerivedOut >
void	solve (const Eigen::MatrixBase< MatrixDerivedIn > &x, const Eigen::MatrixBase< MatrixDerivedOut > &res) const
template<typename MatrixDerived >
void	solveInPlace (const Eigen::MatrixBase< MatrixDerived > &x) const
template<typename VectorLike >
void	updateDamping (const Eigen::MatrixBase< VectorLike > &mus)
	Add a damping term to the diagonal of the Delassus matrix. The damping terms should be all positives. More...
void	updateDamping (const Scalar &mu)
	Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive. More...
Public Member Functions inherited from DelassusOperatorBase< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >
	DelassusOperatorBase (const Eigen::DenseIndex size)
void	applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res) const
Eigen::DenseIndex	cols () const
Scalar	computeLargestEigenValue (const bool reset=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
Scalar	computeLargestEigenValue (const Eigen::PlainObjectBase< VectorLike > &largest_eigenvector_est, const bool reset=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
Scalar	computeLowestEigenValue (const bool reset=true, const bool compute_largest=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
Scalar	computeLowestEigenValue (const Eigen::PlainObjectBase< VectorLike1 > &largest_eigenvector_est, const Eigen::PlainObjectBase< VectorLike2 > &lowest_eigenvector_est, const bool reset=true, const bool compute_largest=true, const int max_it=10, const Scalar rel_tol=Scalar(1e-8)) const
DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > &	derived ()
const DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > &	derived () const
PowerIterationAlgo &	getPowerIterationAlgo ()
const PowerIterationAlgo &	getPowerIterationAlgo () const
MatrixDerived	operator* (const Eigen::MatrixBase< MatrixDerived > &x) const
Eigen::DenseIndex	rows () const
Eigen::DenseIndex	size () const
void	solve (const Eigen::MatrixBase< MatrixDerivedIn > &x, const Eigen::MatrixBase< MatrixDerivedOut > &res) const
MatrixLike	solve (const Eigen::MatrixBase< MatrixLike > &mat) const
void	solveInPlace (const Eigen::MatrixBase< MatrixLike > &mat) const
void	updateDamping (const Eigen::MatrixBase< VectorLike > &vec)
void	updateDamping (const Scalar mu)

Protected Attributes
const ContactCholeskyDecomposition &	self
Protected Attributes inherited from DelassusOperatorBase< DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition > >
PowerIterationAlgo	power_iteration_algo

Detailed Description

template<typename _ContactCholeskyDecomposition>
struct pinocchio::DelassusCholeskyExpressionTpl< _ContactCholeskyDecomposition >

Definition at line 537 of file contact-cholesky.hpp.

Member Function Documentation

updateDamping() [1/2]

void updateDamping ( const Eigen::MatrixBase< VectorLike > &  mus )

inline

Add a damping term to the diagonal of the Delassus matrix. The damping terms should be all positives.

Parameters

[in]

mus

Vector of positive regularization factor allowing to enforce the definite positiveness of the matrix.

Definition at line 671 of file contact-cholesky.hpp.

updateDamping() [2/2]

void updateDamping ( const Scalar &  mu )

inline

Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive.

Parameters

[in]

mu

Regularization factor allowing to enforce the definite positiveness of the matrix.

Definition at line 683 of file contact-cholesky.hpp.

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The documentation for this struct was generated from the following file:

• include/pinocchio/algorithm/contact-cholesky.hpp