solver
Static Public Member Functions | List of all members
rt_solver::RtAffineUtils Class Reference

Static Public Member Functions

template<typename AffMatDerived , typename AffVecDerived , typename SubstMatDerived >
static void append (Eigen::MatrixBase< AffMatDerived > &aff_mat, Eigen::MatrixBase< AffVecDerived > &aff_vec, const Eigen::MatrixBase< SubstMatDerived > &subst_mat)
 
template<typename AffMatDerived , typename AffVecDerived , typename SubstMatDerived , typename SubstVecDerived >
static void append (Eigen::MatrixBase< AffMatDerived > &aff_mat, Eigen::MatrixBase< AffVecDerived > &aff_vec, const Eigen::MatrixBase< SubstMatDerived > &subst_mat, const Eigen::MatrixBase< SubstVecDerived > &subst_vec)
 
template<typename AffMatDerived , typename AffVecDerived , typename SubstMatDerived >
static void appendAtColumn (Eigen::MatrixBase< AffMatDerived > &aff_mat, Eigen::MatrixBase< AffVecDerived > &aff_vec, const Eigen::MatrixBase< SubstMatDerived > &subst_mat, int starting_column)
 ! Append an affine mapping at the end of another one starting from a certain column. More...
 
template<typename AffMatDerived , typename AffVecDerived , typename SubstMatDerived , typename SubstVecDerived >
static void appendAtColumn (Eigen::MatrixBase< AffMatDerived > &aff_mat, Eigen::MatrixBase< AffVecDerived > &aff_vec, const Eigen::MatrixBase< SubstMatDerived > &subst_mat, const Eigen::MatrixBase< SubstVecDerived > &subst_vec, int starting_column)
 
template<int MaxRows, int MaxCols>
static void removeZeroRows (typename RtMatrix< MaxRows, MaxCols >::d &mat, typename RtVector< MaxRows >::d &vec, double threshold=RtMatrixUtils::remove_zero_thresh_)
 
template<typename Mat , typename Vec >
static void removeZeroRows (Eigen::EigenBase< Mat > &mat, Eigen::EigenBase< Vec > &vec)
 
template<typename AffMatDerived , typename AffVecDerived , typename SubstMatDerived , typename SubstVecDerived >
static void substitute (Eigen::MatrixBase< AffMatDerived > &aff_mat, Eigen::MatrixBase< AffVecDerived > &aff_vec, const Eigen::MatrixBase< SubstMatDerived > &subst_mat, const Eigen::MatrixBase< SubstVecDerived > &subst_vec)
 ! Given aff_mat*x + aff_vec, substitute x = subst_mat * y + subst_vec into x.
 
template<typename AffMatDerived , typename SubstMatDerived >
static void substitute (Eigen::MatrixBase< AffMatDerived > &aff_mat, const Eigen::MatrixBase< SubstMatDerived > &subst_mat)
 
template<typename AffMatDerived , typename AffVecDerived >
static void assertMatchingDimensions (const Eigen::MatrixBase< AffMatDerived > &aff_mat, const Eigen::MatrixBase< AffVecDerived > &aff_vec)
 

Member Function Documentation

template<typename AffMatDerived , typename AffVecDerived , typename SubstMatDerived >
static void rt_solver::RtAffineUtils::appendAtColumn ( Eigen::MatrixBase< AffMatDerived > &  aff_mat,
Eigen::MatrixBase< AffVecDerived > &  aff_vec,
const Eigen::MatrixBase< SubstMatDerived > &  subst_mat,
int  starting_column 
)
inlinestatic

! Append an affine mapping at the end of another one starting from a certain column.

AffMat and SubstMat are not required to have the same number of columns.

The documentation for this class was generated from the following file: