dynamicgraph::sot::MatrixForce Class Reference

#include <sot/core/matrix-force.hh>

Inheritance diagram for dynamicgraph::sot::MatrixForce:
[legend]

Public Member Functions

 MatrixForce (void)
 
 MatrixForce (const MatrixForce &m)
 
virtual ~MatrixForce (void)
 
 MatrixForce (const MatrixHomogeneous &M)
 
MatrixForcebuildFrom (const MatrixHomogeneous &trans)
 
MatrixForceoperator= (const ml::Matrix &)
 
MatrixForceinverse (MatrixForce &invMatrix) const
 
MatrixForce inverse (void) const
 
MatrixTwisttranspose (MatrixTwist &Vt) const
 
MatrixTwist transpose (void) const
 
- Public Member Functions inherited from maal::boost::Matrix
 Matrix (const unsigned int rows=0, const unsigned int cols=0)
 
 Matrix (InternalMatrix *clone, const bool proprio=false)
 
 Matrix (const Matrix &copy)
 
virtual ~Matrix (void)
 
InternalMatrixaccessToMotherLib (void)
 
const InternalMatrixaccessToMotherLib (void) const
 
MatrixinitFromMotherLib (const InternalMatrix &bv)
 
Matrixresize (const unsigned int nbRows, const unsigned int nbCols, const bool setZero=true)
 
unsigned int nbRows (void) const
 
unsigned int nbCols (void) const
 
MatrixsetZero (void)
 
MatrixsetIdentity (void)
 
Matrixfill (const FloatType value)
 
FloatType determinant (void) const
 
FloatType trace (void) const
 
FloatType norm (void) const
 
FloatType norm1 (void) const
 
FloatType normInfty (void) const
 
FloatType max (void) const
 
FloatType min (void) const
 
FloatType sumSquare (void) const
 
Matrixtranspose (Matrix &At) const
 
Matrix transpose (void) const
 
Matrixinverse (Matrix &invMatrix) const
 
Matrix inverse (void) const
 
virtual MatrixpseudoInverse (Matrix &invMatrix, const FloatType threshold=1e-6, Matrix *Uref=NULL, Vector *Sref=NULL, Matrix *Vref=NULL) const
 
Matrix pseudoInverse (const FloatType threshold=1e-6, Matrix *U=NULL, Vector *S=NULL, Matrix *V=NULL) const
 
virtual MatrixdampedInverse (Matrix &invMatrix, const FloatType threshold=1e-6, Matrix *Uref=NULL, Vector *Sref=NULL, Matrix *Vref=NULL) const
 
Matrix dampedInverse (const FloatType threshold=1e-6, Matrix *U=NULL, Vector *S=NULL, Matrix *V=NULL) const
 
Matrixopposite (Matrix &res) const
 
Matrix opposite (void) const
 
FloatTypedatablock (void)
 
const FloatTypedatablock (void) const
 
Matrixextract (const int top, const int left, const int nbrows, const int nbcols, Matrix &C) const
 
Matrix extract (const int top, const int left, const int nbrows, const int nbcols)
 
const FloatTypeelementAt (const int row, const int col) const
 
FloatTypeelementAt (const int row, const int col)
 
const FloatTypeelementAt (const int elmt) const
 
FloatTypeelementAt (const int elmt)
 
Vector getDiagonal (void) const
 
VectorgetDiagonal (Vector &vector) const
 
MatrixsetDiagonal (const Vector &vector)
 
MatrixstackMatrix (const Matrix &, Matrix &C) const
 
Matrix stackMatrix (const Matrix &B) const
 
MatrixjuxtaposeMatrix (const Matrix &, Matrix &C) const
 
Matrix juxtaposeMatrix (const Matrix &B) const
 
 Matrix (const unsigned int rows=0, const unsigned int cols=0)
 
 Matrix (InternalMatrix *clone, const bool proprio=false)
 
 Matrix (const Matrix &copy)
 
virtual ~Matrix (void)
 
InternalMatrixaccessToMotherLib (void)
 
const InternalMatrixaccessToMotherLib (void) const
 
MatrixinitFromMotherLib (const InternalMatrix &bv)
 
Matrixresize (const unsigned int nbRows, const unsigned int nbCols, const bool setZero=true)
 
unsigned int nbRows (void) const
 
unsigned int nbCols (void) const
 
MatrixsetZero (void)
 
MatrixsetIdentity (void)
 
Matrixfill (const FloatType value)
 
FloatType determinant (void) const
 
FloatType trace (void) const
 
FloatType norm (void) const
 
FloatType norm1 (void) const
 
FloatType normInfty (void) const
 
FloatType max (void) const
 
FloatType min (void) const
 
FloatType sumSquare (void) const
 
Matrixtranspose (Matrix &At) const
 
Matrix transpose (void) const
 
Matrixinverse (Matrix &invMatrix) const
 
Matrix inverse (void) const
 
virtual MatrixpseudoInverse (Matrix &invMatrix, const FloatType threshold=1e-6, Matrix *Uref=NULL, Vector *Sref=NULL, Matrix *Vref=NULL) const
 
Matrix pseudoInverse (const FloatType threshold=1e-6, Matrix *U=NULL, Vector *S=NULL, Matrix *V=NULL) const
 
virtual MatrixdampedInverse (Matrix &invMatrix, const FloatType threshold=1e-6, Matrix *Uref=NULL, Vector *Sref=NULL, Matrix *Vref=NULL) const
 
Matrix dampedInverse (const FloatType threshold=1e-6, Matrix *U=NULL, Vector *S=NULL, Matrix *V=NULL) const
 
Matrixopposite (Matrix &res) const
 
Matrix opposite (void) const
 
Matrix multiply (const Matrix &B) const
 
Matrixmultiply (const Matrix &B, Matrix &C) const
 
Vector multiply (const Vector &v) const
 
Vectormultiply (const Vector &v, Vector &res) const
 
Matrix addition (const Matrix &B) const
 
Matrixaddition (const Matrix &B, Matrix &C) const
 
Matrix substraction (const Matrix &B) const
 
Matrixsubstraction (const Matrix &B, Matrix &C) const
 
Matrix multiply (const FloatType x) const
 
Matrixmultiply (const FloatType x, Matrix &C) const
 
Matrix addition (const FloatType x) const
 
Matrixaddition (const FloatType x, Matrix &C) const
 
Matrix substraction (const FloatType x) const
 
Matrixsubstraction (const FloatType x, Matrix &C) const
 
Matrix division (const FloatType x) const
 
Matrixdivision (const FloatType x, Matrix &C) const
 
FloatTypedatablock (void)
 
const FloatTypedatablock (void) const
 
Matrixextract (const int top, const int left, const int nbrows, const int nbcols, Matrix &C) const
 
Matrix extract (const int top, const int left, const int nbrows, const int nbcols)
 
const FloatTypeelementAt (const int row, const int col) const
 
FloatTypeelementAt (const int row, const int col)
 
const FloatTypeelementAt (const int elmt) const
 
FloatTypeelementAt (const int elmt)
 
Vector getDiagonal (void) const
 
VectorgetDiagonal (Vector &vector) const
 
MatrixsetDiagonal (const Vector &vector)
 
MatrixstackMatrix (const Matrix &, Matrix &C) const
 
Matrix stackMatrix (const Matrix &B) const
 
MatrixjuxtaposeMatrix (const Matrix &, Matrix &C) const
 
Matrix juxtaposeMatrix (const Matrix &B) const
 
Matrixoperator+= (const Matrix &m1)
 
Matrixoperator-= (const Matrix &m1)
 
Matrixoperator*= (const Matrix &m1)
 
Matrixoperator*= (const FloatType x)
 
const FloatTypeoperator() (const int i, const int j) const
 
FloatTypeoperator() (const int i, const int j)
 
const FloatTypeoperator() (const int n) const
 
FloatTypeoperator() (const int n)
 
Matrixoperator= (const Matrix &m1)
 
bool autoresize (void)
 

Additional Inherited Members

- Public Types inherited from maal::boost::Matrix
typedef ::boost::numeric::ublas::matrix< FloatTypeInternalMatrix
 
- Public Attributes inherited from maal::boost::Matrix
InternalMatrix staticMatrix
 
InternalMatrixdynamicMatrix
 
InternalMatrixmatrix
 
bool proprio
 
- Static Public Attributes inherited from maal::boost::Matrix
static const bool AUTORESIZE
 
static const bool CHECKRESIZE
 
- Static Protected Member Functions inherited from maal::boost::Matrix
static void _resize (InternalMatrix &mat1, const InternalMatrix &mat2)
 
static bool _checksize (const InternalMatrix &mat1, const InternalMatrix &mat2)
 
static bool _checksizeVerb (const InternalMatrix &mat1, const InternalMatrix &mat2)
 
static bool _checksize (const InternalMatrix &mat1, const unsigned int s1, const unsigned int s2)
 
static bool _checksizeVerb (const InternalMatrix &mat1, const unsigned int s1, const unsigned int s2)
 
static bool _checksizeProd (const InternalMatrix &mat1, const InternalMatrix &mat2)
 
static bool _checksizeProdVerb (const InternalMatrix &mat1, const InternalMatrix &mat2)
 
static void _resizeProd (InternalMatrix &res, const InternalMatrix &mat1, const InternalMatrix &mat2)
 
static bool _checksizeProd (const InternalMatrix &mat1, const Vector::InternalVector &vct)
 
static bool _checksizeProdVerb (const InternalMatrix &mat1, const Vector::InternalVector &vct)
 
static void _resizeProd (Vector::InternalVector &res, const InternalMatrix &mat1)
 
static void _resizeInv (InternalMatrix &res, const InternalMatrix &mat2)
 
static bool _checksizeSquare (const InternalMatrix &mat1)
 
static bool _checksizeSquareVerb (const InternalMatrix &mat1)
 

Constructor & Destructor Documentation

◆ MatrixForce() [1/3]

dynamicgraph::sot::MatrixForce::MatrixForce ( void  )
inline

◆ MatrixForce() [2/3]

dynamicgraph::sot::MatrixForce::MatrixForce ( const MatrixForce m)
inline

◆ ~MatrixForce()

virtual dynamicgraph::sot::MatrixForce::~MatrixForce ( void  )
inlinevirtual

◆ MatrixForce() [3/3]

dynamicgraph::sot::MatrixForce::MatrixForce ( const MatrixHomogeneous M)
inlineexplicit

Member Function Documentation

◆ buildFrom()

MatrixForce& dynamicgraph::sot::MatrixForce::buildFrom ( const MatrixHomogeneous trans)

◆ inverse() [1/2]

MatrixForce& dynamicgraph::sot::MatrixForce::inverse ( MatrixForce invMatrix) const

◆ inverse() [2/2]

MatrixForce dynamicgraph::sot::MatrixForce::inverse ( void  ) const
inline

◆ operator=()

MatrixForce& dynamicgraph::sot::MatrixForce::operator= ( const ml::Matrix )

◆ transpose() [1/2]

MatrixTwist& dynamicgraph::sot::MatrixForce::transpose ( MatrixTwist Vt) const

◆ transpose() [2/2]

MatrixTwist dynamicgraph::sot::MatrixForce::transpose ( void  ) const