pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Types | Public Member Functions | Protected Attributes | List of all members
DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > Struct Template Reference
Inheritance diagram for DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition >:
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Collaboration diagram for DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition >:
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Public Types

enum  { Options = traits<Self>::Options , RowsAtCompileTime = traits<Self>::RowsAtCompileTime }
 
typedef DelassusOperatorBase< Self > Base
 
typedef SparseCholeskyDecomposition CholeskyDecomposition
 
typedef traits< Self >::DenseMatrix DenseMatrix
 
typedef traits< Self >::Scalar Scalar
 
typedef DelassusOperatorSparseTpl Self
 
typedef traits< Self >::SparseMatrix SparseMatrix
 
typedef traits< Self >::Vector Vector
 
- Public Types inherited from DelassusOperatorBase< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >
typedef PowerIterationAlgoTpl< Vector > PowerIterationAlgo
 
typedef traits< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >::Scalar Scalar
 
typedef traits< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >::Vector Vector
 

Public Member Functions

template<typename MatrixDerived >
 DelassusOperatorSparseTpl (const Eigen::SparseMatrixBase< MatrixDerived > &mat)
 
template<typename MatrixIn , typename MatrixOut >
void applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res_) const
 
Eigen::DenseIndex cols () const
 
SparseMatrix inverse () const
 
SparseMatrix matrix () const
 
template<typename MatrixDerived >
MatrixDerived operator* (const Eigen::MatrixBase< MatrixDerived > &x) const
 
Eigen::DenseIndex rows () const
 
Eigen::DenseIndex size () const
 
template<typename MatrixDerivedIn , typename MatrixDerivedOut >
void solve (const Eigen::MatrixBase< MatrixDerivedIn > &x, const Eigen::MatrixBase< MatrixDerivedOut > &res) const
 
template<typename MatrixLike >
MatrixLike solve (const Eigen::MatrixBase< MatrixLike > &mat) const
 
template<typename MatrixLike >
void solveInPlace (const Eigen::MatrixBase< MatrixLike > &mat) const
 
template<typename VectorLike >
void updateDamping (const Eigen::MatrixBase< VectorLike > &vec)
 
void updateDamping (const Scalar &mu)
 
- Public Member Functions inherited from DelassusOperatorBase< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >
 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
 
DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > & derived ()
 
const DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > & 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

Vector damping
 
SparseMatrix delassus_matrix
 
SparseMatrix delassus_matrix_plus_damping
 
CholeskyDecomposition llt
 
Vector tmp
 
- Protected Attributes inherited from DelassusOperatorBase< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >
PowerIterationAlgo power_iteration_algo
 

Detailed Description

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>
struct pinocchio::DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition >

Definition at line 127 of file delassus-operator-sparse.hpp.

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