#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/cholesky.hxx"
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.
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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 \( y \).
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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.
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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.
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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.
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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.
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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.
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