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.
void	updateDamping (const Scalar &mu)
	Add a damping term to the diagonal of the Delassus matrix. The damping term should be positive.
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	computeLowestEigenValue (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 ()
PowerIterationAlgo &	getPowerIterationAlgo ()
MatrixDerived	operator* (const Eigen::MatrixBase< MatrixDerived > &x) const
Eigen::DenseIndex	rows () const
Eigen::DenseIndex	size () const
MatrixLike	solve (const Eigen::MatrixBase< MatrixLike > &mat) const
void	solveInPlace (const Eigen::MatrixBase< MatrixLike > &mat) const
void	updateDamping (const Eigen::MatrixBase< VectorLike > &vec)

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 508 of file contact-cholesky.hpp.

Member Typedef Documentation

◆ Base

template<typename _ContactCholeskyDecomposition>

typedef DelassusOperatorBase<Self> Base

Definition at line 517 of file contact-cholesky.hpp.

◆ ContactCholeskyDecomposition

template<typename _ContactCholeskyDecomposition>

typedef _ContactCholeskyDecomposition ContactCholeskyDecomposition

Definition at line 511 of file contact-cholesky.hpp.

◆ Matrix

template<typename _ContactCholeskyDecomposition>

typedef ContactCholeskyDecomposition::Matrix Matrix

Definition at line 514 of file contact-cholesky.hpp.

◆ RowMatrix

template<typename _ContactCholeskyDecomposition>

typedef ContactCholeskyDecomposition::RowMatrix RowMatrix

Definition at line 515 of file contact-cholesky.hpp.

◆ RowMatrixBlockXpr

template<typename _ContactCholeskyDecomposition>

typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::Type RowMatrixBlockXpr

Definition at line 520 of file contact-cholesky.hpp.

◆ RowMatrixConstBlockXpr

template<typename _ContactCholeskyDecomposition>

typedef SizeDepType<Eigen::Dynamic>::template BlockReturn<RowMatrix>::ConstType RowMatrixConstBlockXpr

Definition at line 522 of file contact-cholesky.hpp.

◆ Scalar

template<typename _ContactCholeskyDecomposition>

typedef ContactCholeskyDecomposition::Scalar Scalar

Definition at line 512 of file contact-cholesky.hpp.

◆ Self

template<typename _ContactCholeskyDecomposition>

typedef DelassusCholeskyExpressionTpl<_ContactCholeskyDecomposition> Self

Definition at line 516 of file contact-cholesky.hpp.

◆ Vector

template<typename _ContactCholeskyDecomposition>

typedef ContactCholeskyDecomposition::Vector Vector

Definition at line 513 of file contact-cholesky.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _ContactCholeskyDecomposition>

anonymous enum

Definition at line 524 of file contact-cholesky.hpp.

Constructor & Destructor Documentation

◆ DelassusCholeskyExpressionTpl()

template<typename _ContactCholeskyDecomposition>

DelassusCholeskyExpressionTpl ( const ContactCholeskyDecomposition & self )

inlineexplicit

Definition at line 529 of file contact-cholesky.hpp.

Member Function Documentation

◆ applyOnTheRight()

template<typename _ContactCholeskyDecomposition>

template<typename MatrixIn, typename MatrixOut>

void applyOnTheRight	(	const Eigen::MatrixBase< MatrixIn > &	x,
		const Eigen::MatrixBase< MatrixOut > &	res ) const

inline

Definition at line 536 of file contact-cholesky.hpp.

◆ cholesky()

template<typename _ContactCholeskyDecomposition>

const ContactCholeskyDecomposition & cholesky ( ) const

inline

Returns the Constraint Cholesky decomposition associated to this DelassusCholeskyExpression.

Definition at line 619 of file contact-cholesky.hpp.

◆ cols()

template<typename _ContactCholeskyDecomposition>

Eigen::DenseIndex cols ( ) const

inline

Definition at line 667 of file contact-cholesky.hpp.

◆ inverse()

template<typename _ContactCholeskyDecomposition>

Matrix inverse ( ) const

inline

Definition at line 629 of file contact-cholesky.hpp.

◆ matrix()

template<typename _ContactCholeskyDecomposition>

Matrix matrix ( ) const

inline

Definition at line 624 of file contact-cholesky.hpp.

◆ operator*()

template<typename _ContactCholeskyDecomposition>

template<typename MatrixDerived>

MatrixDerived operator* ( const Eigen::MatrixBase< MatrixDerived > & x ) const

inline

Definition at line 574 of file contact-cholesky.hpp.

◆ rows()

template<typename _ContactCholeskyDecomposition>

Eigen::DenseIndex rows ( ) const

inline

Definition at line 663 of file contact-cholesky.hpp.

◆ size()

template<typename _ContactCholeskyDecomposition>

Eigen::DenseIndex size ( ) const

inline

Definition at line 659 of file contact-cholesky.hpp.

◆ solve() [1/2]

template<typename _ContactCholeskyDecomposition>

template<typename MatrixDerived>

MatrixDerived solve ( const Eigen::MatrixBase< MatrixDerived > & x ) const

inline

Definition at line 609 of file contact-cholesky.hpp.

◆ solve() [2/2]

template<typename _ContactCholeskyDecomposition>

template<typename MatrixDerivedIn, typename MatrixDerivedOut>

void solve	(	const Eigen::MatrixBase< MatrixDerivedIn > &	x,
		const Eigen::MatrixBase< MatrixDerivedOut > &	res ) const

inline

Definition at line 599 of file contact-cholesky.hpp.

◆ solveInPlace()

template<typename _ContactCholeskyDecomposition>

template<typename MatrixDerived>

void solveInPlace ( const Eigen::MatrixBase< MatrixDerived > & x ) const

inline

Definition at line 583 of file contact-cholesky.hpp.

◆ updateDamping() [1/2]

template<typename _ContactCholeskyDecomposition>

template<typename VectorLike>

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 642 of file contact-cholesky.hpp.

◆ updateDamping() [2/2]

template<typename _ContactCholeskyDecomposition>

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 654 of file contact-cholesky.hpp.

Member Data Documentation

◆ self

template<typename _ContactCholeskyDecomposition>

const ContactCholeskyDecomposition& self

protected

Definition at line 673 of file contact-cholesky.hpp.

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

include/pinocchio/algorithm/contact-cholesky.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ ContactCholeskyDecomposition

◆ Matrix

◆ RowMatrix

◆ RowMatrixBlockXpr

◆ RowMatrixConstBlockXpr

◆ Scalar

◆ Self

◆ Vector

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ DelassusCholeskyExpressionTpl()

Member Function Documentation

◆ applyOnTheRight()

◆ cholesky()

◆ cols()

◆ inverse()

◆ matrix()

◆ operator*()

◆ rows()

◆ size()

◆ solve() [1/2]

◆ solve() [2/2]

◆ solveInPlace()

◆ updateDamping() [1/2]

◆ updateDamping() [2/2]

Member Data Documentation

◆ self