Inheritance diagram for DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition >:

Collaboration diagram for DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition >:

Public Types
enum	{ Options = traits<Self>::Options , RowsAtCompileTime = traits<Self>::RowsAtCompileTime }
typedef DelassusOperatorBase< Self >	Base
typedef SparseCholeskyDecomposition	CholeskyDecomposition
typedef traits< Self >::DenseMatrix	DenseMatrix
typedef traits< Self >::Scalar	Scalar
typedef DelassusOperatorSparseTpl	Self
typedef traits< Self >::SparseMatrix	SparseMatrix
typedef traits< Self >::Vector	Vector
Public Types inherited from DelassusOperatorBase< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >
typedef PowerIterationAlgoTpl< Vector >	PowerIterationAlgo
typedef traits< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >::Scalar	Scalar
typedef traits< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >::Vector	Vector

Public Member Functions
template<typename MatrixDerived>
	DelassusOperatorSparseTpl (const Eigen::SparseMatrixBase< MatrixDerived > &mat)
template<typename MatrixIn, typename MatrixOut>
void	applyOnTheRight (const Eigen::MatrixBase< MatrixIn > &x, const Eigen::MatrixBase< MatrixOut > &res_) const
Eigen::DenseIndex	cols () const
SparseMatrix	inverse () const
SparseMatrix	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< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >
	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
DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > &	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
SparseMatrix	delassus_matrix
SparseMatrix	delassus_matrix_plus_damping
CholeskyDecomposition	llt
Vector	tmp
Protected Attributes inherited from DelassusOperatorBase< DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition > >
PowerIterationAlgo	power_iteration_algo

Detailed Description

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>
struct pinocchio::DelassusOperatorSparseTpl< _Scalar, _Options, SparseCholeskyDecomposition >

Definition at line 127 of file delassus-operator-sparse.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

typedef DelassusOperatorBase<Self> Base

Definition at line 142 of file delassus-operator-sparse.hpp.

◆ CholeskyDecomposition

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

typedef SparseCholeskyDecomposition CholeskyDecomposition

Definition at line 141 of file delassus-operator-sparse.hpp.

◆ DenseMatrix

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

typedef traits<Self>::DenseMatrix DenseMatrix

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

◆ Scalar

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

typedef traits<Self>::Scalar Scalar

Definition at line 131 of file delassus-operator-sparse.hpp.

◆ Self

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

typedef DelassusOperatorSparseTpl Self

Definition at line 130 of file delassus-operator-sparse.hpp.

◆ SparseMatrix

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

typedef traits<Self>::SparseMatrix SparseMatrix

Definition at line 138 of file delassus-operator-sparse.hpp.

◆ Vector

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

typedef traits<Self>::Vector Vector

Definition at line 139 of file delassus-operator-sparse.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

anonymous enum

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

Constructor & Destructor Documentation

◆ DelassusOperatorSparseTpl()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

template<typename MatrixDerived>

DelassusOperatorSparseTpl ( const Eigen::SparseMatrixBase< MatrixDerived > & mat )

inlineexplicit

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

Member Function Documentation

◆ applyOnTheRight()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

template<typename MatrixIn, typename MatrixOut>

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

inline

Definition at line 201 of file delassus-operator-sparse.hpp.

◆ cols()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

Eigen::DenseIndex cols ( ) const

inline

Definition at line 229 of file delassus-operator-sparse.hpp.

◆ inverse()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

SparseMatrix inverse ( ) const

inline

Definition at line 241 of file delassus-operator-sparse.hpp.

◆ matrix()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

SparseMatrix matrix ( ) const

inline

Definition at line 234 of file delassus-operator-sparse.hpp.

◆ operator*()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

template<typename MatrixDerived>

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

inline

Definition at line 211 of file delassus-operator-sparse.hpp.

◆ rows()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

Eigen::DenseIndex rows ( ) const

inline

Definition at line 225 of file delassus-operator-sparse.hpp.

◆ size()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

Eigen::DenseIndex size ( ) const

inline

Definition at line 221 of file delassus-operator-sparse.hpp.

◆ solve() [1/2]

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

template<typename MatrixDerivedIn, typename MatrixDerivedOut>

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

inline

Definition at line 192 of file delassus-operator-sparse.hpp.

◆ solve() [2/2]

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

template<typename MatrixLike>

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

inline

Definition at line 184 of file delassus-operator-sparse.hpp.

◆ solveInPlace()

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

template<typename MatrixLike>

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

inline

Definition at line 176 of file delassus-operator-sparse.hpp.

◆ updateDamping() [1/2]

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

template<typename VectorLike>

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

inline

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

◆ updateDamping() [2/2]

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

void updateDamping ( const Scalar & mu )

inline

Definition at line 170 of file delassus-operator-sparse.hpp.

Member Data Documentation

◆ damping

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

Vector damping

protected

Definition at line 253 of file delassus-operator-sparse.hpp.

◆ delassus_matrix

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

SparseMatrix delassus_matrix

protected

Definition at line 250 of file delassus-operator-sparse.hpp.

◆ delassus_matrix_plus_damping

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

SparseMatrix delassus_matrix_plus_damping

mutableprotected

Definition at line 251 of file delassus-operator-sparse.hpp.

◆ llt

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

CholeskyDecomposition llt

protected

Definition at line 252 of file delassus-operator-sparse.hpp.

◆ tmp

template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>

Vector tmp

mutableprotected

Definition at line 254 of file delassus-operator-sparse.hpp.

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

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ CholeskyDecomposition

◆ DenseMatrix

◆ Scalar

◆ Self

◆ SparseMatrix

◆ Vector

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ DelassusOperatorSparseTpl()

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

◆ delassus_matrix_plus_damping

◆ llt

◆ tmp