pinocchio 4.1.0
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#pragma once
6
7// IWYU pragma: begin_keep
8#include <cassert>
9#include <cstddef>
10#include <vector>
11#include <algorithm>
12
13#include <Eigen/Core>
14
15#include "pinocchio/macros.hpp"
16#include "pinocchio/eigen-common.hpp"
17
18#include "pinocchio/multibody.hpp"
19
20#include "pinocchio/algorithm/check-model.hpp"
21// IWYU pragma: end_keep
22
23namespace pinocchio
24{
25 namespace cholesky
26 {
27
48 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
49 inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & decompose(
50 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
51 DataTpl<Scalar, Options, JointCollectionTpl> & data);
52
71 template<
72 typename Scalar,
73 int Options,
74 template<typename, int> class JointCollectionTpl,
75 typename Mat>
76 Mat & solve(
77 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
78 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
79 const Eigen::MatrixBase<Mat> & y);
80
93 template<
94 typename Scalar,
95 int Options,
96 template<typename, int> class JointCollectionTpl,
97 typename Mat>
98 typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat) Mv(
99 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
100 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
101 const Eigen::MatrixBase<Mat> & min);
102
116 template<
117 typename Scalar,
118 int Options,
119 template<typename, int> class JointCollectionTpl,
120 typename Mat,
121 typename MatRes>
122 MatRes & Mv(
123 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
124 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
125 const Eigen::MatrixBase<Mat> & min,
126 const Eigen::MatrixBase<MatRes> & mout);
127
140 template<
141 typename Scalar,
142 int Options,
143 template<typename, int> class JointCollectionTpl,
144 typename Mat>
145 Mat & UDUtv(
146 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
147 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
148 const Eigen::MatrixBase<Mat> & m);
149
162 template<
163 typename Scalar,
164 int Options,
165 template<typename, int> class JointCollectionTpl,
166 typename Mat>
167 Mat & Uv(
168 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
169 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
170 const Eigen::MatrixBase<Mat> & v);
171
185 template<
186 typename Scalar,
187 int Options,
188 template<typename, int> class JointCollectionTpl,
189 typename Mat>
190 Mat & Utv(
191 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
192 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
193 const Eigen::MatrixBase<Mat> & v);
194
210 template<
211 typename Scalar,
212 int Options,
213 template<typename, int> class JointCollectionTpl,
214 typename Mat>
215 Mat & Uiv(
216 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
217 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
218 const Eigen::MatrixBase<Mat> & v);
219
236 template<
237 typename Scalar,
238 int Options,
239 template<typename, int> class JointCollectionTpl,
240 typename Mat>
241 Mat & Utiv(
242 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
243 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
244 const Eigen::MatrixBase<Mat> & v);
245
258 template<
259 typename Scalar,
260 int Options,
261 template<typename, int> class JointCollectionTpl,
262 typename Mat>
263 Mat & computeMinv(
264 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
265 const DataTpl<Scalar, Options, JointCollectionTpl> & data,
266 const Eigen::MatrixBase<Mat> & Minv);
267
280 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
281 const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinv(
282 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
283 DataTpl<Scalar, Options, JointCollectionTpl> & data)
284 {
285 return computeMinv(model, data, data.Minv);
286 }
287
288 } // namespace cholesky
289} // namespace pinocchio
290
291/* --- Details -------------------------------------------------------------------- */
292/* --- Details -------------------------------------------------------------------- */
293/* --- Details -------------------------------------------------------------------- */
294// IWYU pragma: begin_exports
295#include "pinocchio/src/algorithm/cholesky.hxx"
296// IWYU pragma: end_exports
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