Inheritance diagram for DelassusOperatorDenseTpl< _Scalar, _Options >:

Collaboration diagram for DelassusOperatorDenseTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options , RowsAtCompileTime = traits<DelassusOperatorDenseTpl>::RowsAtCompileTime }
typedef DelassusOperatorBase< Self >	Base
typedef Eigen::LLT< Matrix >	CholeskyDecomposition
typedef traits< Self >::Matrix	Matrix
typedef _Scalar	Scalar
typedef DelassusOperatorDenseTpl	Self
typedef traits< Self >::Vector	Vector
Public Types inherited from DelassusOperatorBase< DelassusOperatorDenseTpl< _Scalar, _Options > >
typedef PowerIterationAlgoTpl< Vector >	PowerIterationAlgo
typedef traits< DelassusOperatorDenseTpl< _Scalar, _Options > >::Scalar	Scalar
typedef traits< DelassusOperatorDenseTpl< _Scalar, _Options > >::Vector	Vector

Public Member Functions
template<typename MatrixDerived>
	DelassusOperatorDenseTpl (const Eigen::MatrixBase< MatrixDerived > &mat)
template<typename MatrixIn, typename MatrixOut>
void	applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res_) const
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 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< DelassusOperatorDenseTpl< _Scalar, _Options > >
	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
DelassusOperatorDenseTpl< _Scalar, _Options > &	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
Vector	damping
Matrix	delassus_matrix
CholeskyDecomposition	llt
Matrix	mat_tmp
Protected Attributes inherited from DelassusOperatorBase< DelassusOperatorDenseTpl< _Scalar, _Options > >
PowerIterationAlgo	power_iteration_algo

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::DelassusOperatorDenseTpl< _Scalar, _Options >

Definition at line 29 of file delassus-operator-dense.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options>

typedef DelassusOperatorBase<Self> Base

Definition at line 43 of file delassus-operator-dense.hpp.

◆ CholeskyDecomposition

template<typename _Scalar, int _Options>

typedef Eigen::LLT<Matrix> CholeskyDecomposition

Definition at line 42 of file delassus-operator-dense.hpp.

◆ Matrix

template<typename _Scalar, int _Options>

typedef traits<Self>::Matrix Matrix

Definition at line 40 of file delassus-operator-dense.hpp.

◆ Scalar

template<typename _Scalar, int _Options>

typedef _Scalar Scalar

Definition at line 32 of file delassus-operator-dense.hpp.

◆ Self

template<typename _Scalar, int _Options>

typedef DelassusOperatorDenseTpl Self

Definition at line 33 of file delassus-operator-dense.hpp.

◆ Vector

template<typename _Scalar, int _Options>

typedef traits<Self>::Vector Vector

Definition at line 41 of file delassus-operator-dense.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Definition at line 34 of file delassus-operator-dense.hpp.

Constructor & Destructor Documentation

◆ DelassusOperatorDenseTpl()

template<typename _Scalar, int _Options>

template<typename MatrixDerived>

DelassusOperatorDenseTpl ( const Eigen::MatrixBase< MatrixDerived > & mat )

inlineexplicit

Definition at line 46 of file delassus-operator-dense.hpp.

Member Function Documentation

◆ applyOnTheRight()

template<typename _Scalar, int _Options>

template<typename MatrixIn, typename MatrixOut>

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

inline

Definition at line 95 of file delassus-operator-dense.hpp.

◆ cols()

template<typename _Scalar, int _Options>

Eigen::DenseIndex cols ( ) const

inline

Definition at line 123 of file delassus-operator-dense.hpp.

◆ inverse()

template<typename _Scalar, int _Options>

Matrix inverse ( ) const

inline

Definition at line 135 of file delassus-operator-dense.hpp.

◆ matrix()

template<typename _Scalar, int _Options>

Matrix matrix ( ) const

inline

Definition at line 128 of file delassus-operator-dense.hpp.

◆ operator*()

template<typename _Scalar, int _Options>

template<typename MatrixDerived>

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

inline

Definition at line 105 of file delassus-operator-dense.hpp.

◆ rows()

template<typename _Scalar, int _Options>

Eigen::DenseIndex rows ( ) const

inline

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

◆ size()

template<typename _Scalar, int _Options>

Eigen::DenseIndex size ( ) const

inline

Definition at line 115 of file delassus-operator-dense.hpp.

◆ solve() [1/2]

template<typename _Scalar, int _Options>

template<typename MatrixDerivedIn, typename MatrixDerivedOut>

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

inline

Definition at line 86 of file delassus-operator-dense.hpp.

◆ solve() [2/2]

template<typename _Scalar, int _Options>

template<typename MatrixLike>

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

inline

Definition at line 78 of file delassus-operator-dense.hpp.

◆ solveInPlace()

template<typename _Scalar, int _Options>

template<typename MatrixLike>

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

inline

Definition at line 71 of file delassus-operator-dense.hpp.

◆ updateDamping() [1/2]

template<typename _Scalar, int _Options>

template<typename VectorLike>

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

inline

Definition at line 57 of file delassus-operator-dense.hpp.

◆ updateDamping() [2/2]

template<typename _Scalar, int _Options>

void updateDamping ( const Scalar & mu )

inline

Definition at line 65 of file delassus-operator-dense.hpp.

Member Data Documentation

◆ damping

template<typename _Scalar, int _Options>

Vector damping

protected

Definition at line 146 of file delassus-operator-dense.hpp.

◆ delassus_matrix

template<typename _Scalar, int _Options>

Matrix delassus_matrix

protected

Definition at line 143 of file delassus-operator-dense.hpp.

◆ llt

template<typename _Scalar, int _Options>

CholeskyDecomposition llt

protected

Definition at line 145 of file delassus-operator-dense.hpp.

◆ mat_tmp

template<typename _Scalar, int _Options>

Matrix mat_tmp

mutableprotected

Definition at line 144 of file delassus-operator-dense.hpp.

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

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ CholeskyDecomposition

◆ Matrix

◆ Scalar

◆ Self

◆ Vector

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ DelassusOperatorDenseTpl()

Member Function Documentation

◆ applyOnTheRight()

◆ cols()

◆ inverse()

◆ matrix()

◆ operator*()

◆ rows()

◆ size()

◆ solve() [1/2]

◆ solve() [2/2]

◆ solveInPlace()

◆ updateDamping() [1/2]

◆ updateDamping() [2/2]

Member Data Documentation

◆ damping

◆ delassus_matrix

◆ llt

◆ mat_tmp