pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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cholesky.hpp
1//
2// Copyright (c) 2015-2019 CNRS INRIA
3//
4
5#ifndef __pinocchio_cholesky_hpp__
6#define __pinocchio_cholesky_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10
11namespace pinocchio
12{
13 namespace cholesky
14 {
15
36 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
37 inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & decompose(
38 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
39 DataTpl<Scalar, Options, JointCollectionTpl> & data);
40
59 template<
60 typename Scalar,
61 int Options,
62 template<typename, int> class JointCollectionTpl,
63 typename Mat>
64 Mat & solve(
65 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
66 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
67 const Eigen::MatrixBase<Mat> & y);
68
81 template<
82 typename Scalar,
83 int Options,
84 template<typename, int> class JointCollectionTpl,
85 typename Mat>
86 typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat) Mv(
87 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
88 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
89 const Eigen::MatrixBase<Mat> & min);
90
104 template<
105 typename Scalar,
106 int Options,
107 template<typename, int> class JointCollectionTpl,
108 typename Mat,
109 typename MatRes>
110 MatRes & Mv(
111 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
112 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
113 const Eigen::MatrixBase<Mat> & min,
114 const Eigen::MatrixBase<MatRes> & mout);
115
128 template<
129 typename Scalar,
130 int Options,
131 template<typename, int> class JointCollectionTpl,
132 typename Mat>
133 Mat & UDUtv(
134 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
135 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
136 const Eigen::MatrixBase<Mat> & m);
137
150 template<
151 typename Scalar,
152 int Options,
153 template<typename, int> class JointCollectionTpl,
154 typename Mat>
155 Mat & Uv(
156 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
157 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
158 const Eigen::MatrixBase<Mat> & v);
159
173 template<
174 typename Scalar,
175 int Options,
176 template<typename, int> class JointCollectionTpl,
177 typename Mat>
178 Mat & Utv(
179 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
180 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
181 const Eigen::MatrixBase<Mat> & v);
182
198 template<
199 typename Scalar,
200 int Options,
201 template<typename, int> class JointCollectionTpl,
202 typename Mat>
203 Mat & Uiv(
204 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
205 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
206 const Eigen::MatrixBase<Mat> & v);
207
224 template<
225 typename Scalar,
226 int Options,
227 template<typename, int> class JointCollectionTpl,
228 typename Mat>
229 Mat & Utiv(
230 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
231 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
232 const Eigen::MatrixBase<Mat> & v);
233
246
247 // TODO Clearify, it seems it is exactly the same as solve in l. 54
248 template<
249 typename Scalar,
250 int Options,
251 template<typename, int> class JointCollectionTpl,
252 typename Mat>
253 Mat & solve(
254 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
255 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
256 const Eigen::MatrixBase<Mat> & v);
257
270 template<
271 typename Scalar,
272 int Options,
273 template<typename, int> class JointCollectionTpl,
274 typename Mat>
275 Mat & computeMinv(
276 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
277 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
278 const Eigen::MatrixBase<Mat> & Minv);
279
292 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
293 const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinv(
294 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
295 DataTpl<Scalar, Options, JointCollectionTpl> & data)
296 {
297 return computeMinv(model, data, data.Minv);
298 }
299
300 } // namespace cholesky
301} // namespace pinocchio
302
303/* --- Details -------------------------------------------------------------------- */
304/* --- Details -------------------------------------------------------------------- */
305/* --- Details -------------------------------------------------------------------- */
306#include "pinocchio/algorithm/cholesky.hxx"
307
308#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
309 #include "pinocchio/algorithm/cholesky.txx"
310#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
311
312#endif // ifndef __pinocchio_cholesky_hpp__
pinocchio::cholesky
Cholesky decompositions.
pinocchio::cholesky::Utiv
Mat & Utiv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the pivot inversion using the Cholesky decomposition stored in data and acting in place.
pinocchio::cholesky::UDUtv
Mat & UDUtv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &m)
Performs the multiplication by using the Cholesky decomposition of M stored in data.
pinocchio::cholesky::decompose
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & decompose(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data)
Compute the Cholesky decomposition of the joint space inertia matrix M contained in data.
pinocchio::cholesky::Uiv
Mat & Uiv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the pivot inversion using the Cholesky decomposition stored in data and acting in place.
pinocchio::cholesky::solve
Mat & solve(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &y)
Return the solution of using the Cholesky decomposition stored in data given the entry ....
pinocchio::cholesky::computeMinv
Mat & computeMinv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &Minv)
Computes the inverse of the joint space inertia matrix M from its Cholesky factorization.
pinocchio::cholesky::Uv
Mat & Uv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the sparse multiplication using the Cholesky decomposition stored in data and acting in plac...
pinocchio::cholesky::Mv
Mat Mv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &min)
Performs the multiplication by using the sparsity pattern of the M matrix.
pinocchio::cholesky::Utv
Mat & Utv(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Mat > &v)
Perform the sparse multiplication using the Cholesky decomposition stored in data and acting in plac...
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::DataTpl::Minv
RowMatrixXs Minv
The inverse of the joint space inertia matrix (a square matrix of dim model.nv).
Definition data.hpp:202