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10 #ifndef __SOT_MEMORY_TASK_HH
11 #define __SOT_MEMORY_TASK_HH
27 typedef Eigen::Map<Matrix, Eigen::internal::traits<Matrix>::Alignment>
29 typedef Eigen::Map<const Matrix, Eigen::internal::traits<Matrix>::Alignment>
33 dg::Vector err, tmpTask,
tmpVar, tmpControl;
42 if (kernel.rows() != r || kernel.cols() != c) {
43 if (kernelMem.size() < r * c)
44 kernelMem.resize(r, c);
45 new (&kernel)
Kernel_t(kernelMem.data(), r, c);
61 void display(std::ostream &os)
const;
72 #endif // __SOT_MEMORY_TASK_HH
#define SOT_CORE_EXPORT
Definition: api.hh:20
Definition: task-abstract.hh:52
Definition: abstract-sot-external-interface.hh:17
Eigen::JacobiSVD< Matrix > SVD_t
Definition: matrix-svd.hh:22
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:36
Kernel_t & getKernel(const Matrix::Index r, const Matrix::Index c)
Definition: memory-task-sot.hh:49
SVD_t svd
Definition: memory-task-sot.hh:38
Kernel_t kernel
Definition: memory-task-sot.hh:39
Eigen::Map< Matrix, Eigen::internal::traits< Matrix >::Alignment > Kernel_t
Definition: memory-task-sot.hh:28
Definition: memory-task-sot.hh:25
dg::Matrix JK
Definition: memory-task-sot.hh:36
dg::Matrix Jt
Definition: memory-task-sot.hh:34
dg::Vector tmpVar
Definition: memory-task-sot.hh:33
Eigen::Map< const Matrix, Eigen::internal::traits< Matrix >::Alignment > KernelConst_t
Definition: memory-task-sot.hh:30
void resizeKernel(const Matrix::Index r, const Matrix::Index c)
Definition: memory-task-sot.hh:41