10 #ifndef __SOT_MEMORY_TASK_HH
11 #define __SOT_MEMORY_TASK_HH
26 typedef Eigen::Map<Matrix, Eigen::internal::traits<Matrix>::Alignment>
28 typedef Eigen::Map<const Matrix, Eigen::internal::traits<Matrix>::Alignment>
32 dynamicgraph::Vector
err, tmpTask, tmpVar, tmpControl;
33 dynamicgraph::Matrix
Jt;
35 dynamicgraph::Matrix
JK;
41 if (kernel.rows() != r || kernel.cols() != c) {
42 if (kernelMem.size() < r * c)
43 kernelMem.resize(r, c);
44 new (&kernel)
Kernel_t(kernelMem.data(), r, c);
#define SOT_CORE_EXPORT
Definition: api.hh:20
Definition: memory-task-sot.hh:24
Eigen::Map< const Matrix, Eigen::internal::traits< Matrix >::Alignment > KernelConst_t
Definition: memory-task-sot.hh:29
dynamicgraph::Matrix Jt
Definition: memory-task-sot.hh:33
SVD_t svd
Definition: memory-task-sot.hh:37
void resizeKernel(const Matrix::Index r, const Matrix::Index c)
Definition: memory-task-sot.hh:40
Eigen::Map< Matrix, Eigen::internal::traits< Matrix >::Alignment > Kernel_t
Definition: memory-task-sot.hh:27
dynamicgraph::Vector err
Definition: memory-task-sot.hh:32
void display(std::ostream &os) const
dynamicgraph::Matrix JK
Definition: memory-task-sot.hh:35
Kernel_t & getKernel(const Matrix::Index r, const Matrix::Index c)
Definition: memory-task-sot.hh:48
Kernel_t kernel
Definition: memory-task-sot.hh:38
MemoryTaskSOT(const Matrix::Index nJ=0, const Matrix::Index mJ=0)
Definition: task-abstract.hh:51
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:39
Definition: abstract-sot-external-interface.hh:17
Eigen::JacobiSVD< Matrix > SVD_t
Definition: matrix-svd.hh:22