mal-to-eigen.h File Reference
#include <Eigen/LU>
#include <soth/Algebra.hpp>
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Namespaces

namespace  Eigen
namespace  dynamicgraph
 

This class proposes to integrate the acceleration given in input to produce both velocity and acceleration.


namespace  dynamicgraph::sot
namespace  dynamicgraph::sot::dyninv

Defines

#define EIGEN_CONST_MATRIX_FROM_SIGNAL(name, signal)
#define EIGEN_MATRIX_FROM_SIGNAL(name, signal)
#define EIGEN_CONST_VECTOR_FROM_SIGNAL(name, signal)
#define EIGEN_VECTOR_FROM_SIGNAL(name, signal)
#define EIGEN_MATRIX_FROM_MATRIX(eigName, mlName, r, c)
#define EIGEN_VECTOR_FROM_VECTOR(eigName, mlName, r)

Typedefs

typedef Matrix< double,
Dynamic, Dynamic, RowMajor > 
Eigen::MatrixRXd
typedef Map< MatrixRXd > Eigen::SigMatrixXd
typedef Map< VectorXd > Eigen::SigVectorXd
typedef const Map< const
MatrixRXd > 
Eigen::const_SigMatrixXd
typedef const Map< const VectorXd > Eigen::const_SigVectorXd

Functions

template<typename D >
void dynamicgraph::sot::dyninv::EIGEN_VECTOR_TO_VECTOR (const Eigen::MatrixBase< D > &in, ml::Vector &out)
template<typename MB >
void dynamicgraph::sot::dyninv::EIGEN_ROWMAJOR_MATRIX_TO_MATRIX (const Eigen::MatrixBase< MB > &in, ml::Matrix &out)
template<typename MB >
void dynamicgraph::sot::dyninv::EIGEN_COLMAJOR_MATRIX_TO_MATRIX (const Eigen::MatrixBase< MB > &in, ml::Matrix &out)

Define Documentation

#define EIGEN_CONST_MATRIX_FROM_SIGNAL (   name,
  signal 
)
Value:
Eigen::const_SigMatrixXd name           \
  (                              \
   signal.accessToMotherLib().data().begin(),                        \
   signal.nbRows(),                                \
   signal.nbCols()                                 \
                                     )

Referenced by dynamicgraph::sot::dyninv::PseudoRobotDynamic::setRoot().

#define EIGEN_CONST_VECTOR_FROM_SIGNAL (   name,
  signal 
)
Value:
Eigen::const_SigVectorXd name                                    \
  (                                    \
   signal.accessToMotherLib().data().begin(),                          \
   signal.size()                                 \
                                     )

Referenced by dynamicgraph::sot::dyninv::DynamicIntegrator::integrate().

#define EIGEN_MATRIX_FROM_MATRIX (   eigName,
  mlName,
  r,
 
)
Value:
mlName.resize(r,c);            \
  EIGEN_MATRIX_FROM_SIGNAL(eigName,mlName)
#define EIGEN_MATRIX_FROM_SIGNAL (   name,
  signal 
)
Value:
Eigen::SigMatrixXd name                              \
  (                              \
   signal.accessToMotherLib().data().begin(),                          \
   signal.nbRows(),                                \
   signal.nbCols()                                 \
                                     )
#define EIGEN_VECTOR_FROM_SIGNAL (   name,
  signal 
)
Value:
Eigen::SigVectorXd name                                    \
  (                                    \
   signal.accessToMotherLib().data().begin(),                          \
   signal.size()                                 \
                                     )

Referenced by dynamicgraph::sot::dyninv::DynamicIntegrator::integrate(), and dynamicgraph::sot::dyninv::PseudoRobotDynamic::setRoot().

#define EIGEN_VECTOR_FROM_VECTOR (   eigName,
  mlName,
 
)
Value:
mlName.resize(r);            \
  EIGEN_VECTOR_FROM_SIGNAL(eigName,mlName)