Namespaces | |
namespace | internal |
Functions | |
const Eigen::MatrixXd & | decompose (const Model &model, Data &data) |
template<typename Mat > | |
Mat & | solve (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v) |
template<typename Mat > | |
Mat & | Mv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v, bool usingCholesky=false) |
template<typename Mat > | |
Mat & | Uv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v) |
template<typename Mat > | |
Mat & | Utv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v) |
template<typename Mat > | |
Mat & | Uiv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v) |
template<typename Mat > | |
Mat & | Utiv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v) |
const Eigen::MatrixXd & se3::cholesky::decompose | ( | const Model & | model, |
Data & | data | ||
) | [inline] |
Mat & se3::cholesky::Mv | ( | const Model & | model, |
const Data & | data, | ||
Eigen::MatrixBase< Mat > & | v, | ||
bool | usingCholesky = false |
||
) |
References se3::cholesky::internal::Mv(), and se3::cholesky::internal::UDUtv().
Mat & se3::cholesky::solve | ( | const Model & | model, |
const Data & | data, | ||
Eigen::MatrixBase< Mat > & | v | ||
) |
References se3::Data::D, se3::Model::nv, Uiv(), and Utiv().
Mat& se3::cholesky::Uiv | ( | const Model & | model, |
const Data & | data, | ||
Eigen::MatrixBase< Mat > & | v | ||
) |
References se3::Model::nv, se3::Data::nvSubtree_fromRow, and se3::Data::U.
Referenced by solve().
Mat& se3::cholesky::Utiv | ( | const Model & | model, |
const Data & | data, | ||
Eigen::MatrixBase< Mat > & | v | ||
) |
References se3::Model::nv, se3::Data::nvSubtree_fromRow, and se3::Data::U.
Referenced by solve().
Mat& se3::cholesky::Utv | ( | const Model & | model, |
const Data & | data, | ||
Eigen::MatrixBase< Mat > & | v | ||
) |
References se3::Model::nv, se3::Data::nvSubtree_fromRow, and se3::Data::U.
Referenced by se3::cholesky::internal::UDUtv().
Mat& se3::cholesky::Uv | ( | const Model & | model, |
const Data & | data, | ||
Eigen::MatrixBase< Mat > & | v | ||
) |
References se3::Model::nv, se3::Data::nvSubtree_fromRow, and se3::Data::U.
Referenced by se3::cholesky::internal::UDUtv().