cholesky.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/cholesky.hxx"
Include dependency graph for cholesky.hpp:

Namespaces

namespace  se3
namespace  se3::cholesky

Functions

const Eigen::MatrixXd & se3::cholesky::decompose (const Model &model, Data &data)
 Compute the Cholesky decomposition of the joint space inertia matrix M contained in data.
template<typename Mat >
Mat & se3::cholesky::solve (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &y)
 Return the solution \(x\) of \( M x = y \) using the Cholesky decomposition stored in data given the entry \( y \).
template<typename Mat >
Mat & se3::cholesky::Mv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v, const bool usingCholesky=false)
 Perform the multiplication \( M v \) either by using computed Cholesky decomposition or from raw computation.
template<typename Mat >
Mat & se3::cholesky::Uv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v)
 Perform the sparse multiplication \( Uv \) using the Cholesky decomposition stored in data and acting in place.
template<typename Mat >
Mat & se3::cholesky::Utv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v)
 Perform the sparse multiplication \( U^{\top}v \) using the Cholesky decomposition stored in data and acting in place.
template<typename Mat >
Mat & se3::cholesky::Uiv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v)
 Perform the pivot inversion \( U^{-1}v \) using the Cholesky decomposition stored in data and acting in place.
template<typename Mat >
Mat & se3::cholesky::Utiv (const Model &model, const Data &data, Eigen::MatrixBase< Mat > &v)
 Perform the pivot inversion \( U^{-\top}v \) using the Cholesky decomposition stored in data and acting in place.