pinocchio: DelassusOperatorBase< DelassusOperatorDerived > Struct Template Reference

pinocchio 3.9.0

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

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Inheritance diagram for DelassusOperatorBase< DelassusOperatorDerived >:

Inheritance graph

Collaboration diagram for DelassusOperatorBase< DelassusOperatorDerived >:

Collaboration graph

Public Types
typedef PowerIterationAlgoTpl< Vector >	PowerIterationAlgo
typedef traits< DelassusOperatorDerived >::Scalar	Scalar
typedef traits< DelassusOperatorDerived >::Vector	Vector

Public Member Functions
	DelassusOperatorBase (const Eigen::DenseIndex size)
template<typename MatrixIn, typename MatrixOut>
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
template<typename VectorLike>
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
template<typename VectorLike1, typename VectorLike2>
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
DelassusOperatorDerived &	derived ()
const DelassusOperatorDerived &	derived () const
PowerIterationAlgo &	getPowerIterationAlgo ()
const PowerIterationAlgo &	getPowerIterationAlgo () 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)

Protected Attributes
PowerIterationAlgo	power_iteration_algo

Detailed Description

template<typename DelassusOperatorDerived>
struct pinocchio::DelassusOperatorBase< DelassusOperatorDerived >

Definition at line 15 of file delassus-operator-base.hpp.

Member Typedef Documentation

◆ PowerIterationAlgo

template<typename DelassusOperatorDerived>

typedef PowerIterationAlgoTpl<Vector> PowerIterationAlgo

Definition at line 19 of file delassus-operator-base.hpp.

◆ Scalar

template<typename DelassusOperatorDerived>

typedef traits<DelassusOperatorDerived>::Scalar Scalar

Definition at line 17 of file delassus-operator-base.hpp.

◆ Vector

template<typename DelassusOperatorDerived>

typedef traits<DelassusOperatorDerived>::Vector Vector

Definition at line 18 of file delassus-operator-base.hpp.

Constructor & Destructor Documentation

◆ DelassusOperatorBase()

template<typename DelassusOperatorDerived>

DelassusOperatorBase ( const Eigen::DenseIndex size )

inlineexplicit

Definition at line 30 of file delassus-operator-base.hpp.

Member Function Documentation

◆ applyOnTheRight()

template<typename DelassusOperatorDerived>

template<typename MatrixIn, typename MatrixOut>

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

inline

Definition at line 140 of file delassus-operator-base.hpp.

◆ cols()

template<typename DelassusOperatorDerived>

Eigen::DenseIndex cols ( ) const

inline

Definition at line 161 of file delassus-operator-base.hpp.

◆ computeLargestEigenValue() [1/2]

template<typename DelassusOperatorDerived>

Scalar computeLargestEigenValue	(	const bool	reset = true,
		const int	max_it = 10,
		const Scalar	rel_tol = Scalar(1e-8) ) const

inline

Definition at line 35 of file delassus-operator-base.hpp.

◆ computeLargestEigenValue() [2/2]

template<typename DelassusOperatorDerived>

template<typename VectorLike>

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

inline

Definition at line 49 of file delassus-operator-base.hpp.

◆ computeLowestEigenValue() [1/2]

template<typename DelassusOperatorDerived>

Scalar computeLowestEigenValue	(	const bool	reset = true,
		const bool	compute_largest = true,
		const int	max_it = 10,
		const Scalar	rel_tol = Scalar(1e-8) ) const

inline

Definition at line 67 of file delassus-operator-base.hpp.

◆ computeLowestEigenValue() [2/2]

template<typename DelassusOperatorDerived>

template<typename VectorLike1, typename VectorLike2>

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

inline

Definition at line 84 of file delassus-operator-base.hpp.

◆ derived() [1/2]

template<typename DelassusOperatorDerived>

DelassusOperatorDerived & derived ( )

inline

Definition at line 21 of file delassus-operator-base.hpp.

◆ derived() [2/2]

template<typename DelassusOperatorDerived>

const DelassusOperatorDerived & derived ( ) const

inline

Definition at line 25 of file delassus-operator-base.hpp.

◆ getPowerIterationAlgo() [1/2]

template<typename DelassusOperatorDerived>

PowerIterationAlgo & getPowerIterationAlgo ( )

inline

Definition at line 166 of file delassus-operator-base.hpp.

◆ getPowerIterationAlgo() [2/2]

template<typename DelassusOperatorDerived>

const PowerIterationAlgo & getPowerIterationAlgo ( ) const

inline

Definition at line 171 of file delassus-operator-base.hpp.

◆ operator*()

template<typename DelassusOperatorDerived>

template<typename MatrixDerived>

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

inline

Definition at line 148 of file delassus-operator-base.hpp.

◆ rows()

template<typename DelassusOperatorDerived>

Eigen::DenseIndex rows ( ) const

inline

Definition at line 157 of file delassus-operator-base.hpp.

◆ size()

template<typename DelassusOperatorDerived>

Eigen::DenseIndex size ( ) const

inline

Definition at line 153 of file delassus-operator-base.hpp.

◆ solve() [1/2]

template<typename DelassusOperatorDerived>

template<typename MatrixDerivedIn, typename MatrixDerivedOut>

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

inline

Definition at line 132 of file delassus-operator-base.hpp.

◆ solve() [2/2]

template<typename DelassusOperatorDerived>

template<typename MatrixLike>

MatrixLike solve ( const Eigen::MatrixBase< MatrixLike > & mat ) const

inline

Definition at line 126 of file delassus-operator-base.hpp.

◆ solveInPlace()

template<typename DelassusOperatorDerived>

template<typename MatrixLike>

void solveInPlace ( const Eigen::MatrixBase< MatrixLike > & mat ) const

inline

Definition at line 119 of file delassus-operator-base.hpp.

◆ updateDamping() [1/2]

template<typename DelassusOperatorDerived>

template<typename VectorLike>

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

inline

Definition at line 108 of file delassus-operator-base.hpp.

◆ updateDamping() [2/2]

template<typename DelassusOperatorDerived>

void updateDamping ( const Scalar mu )

inline

Definition at line 113 of file delassus-operator-base.hpp.

Member Data Documentation

◆ power_iteration_algo

template<typename DelassusOperatorDerived>

PowerIterationAlgo power_iteration_algo

mutableprotected

Definition at line 177 of file delassus-operator-base.hpp.

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

include/pinocchio/algorithm/delassus-operator-base.hpp

pinocchio
DelassusOperatorBase
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