Static Public Member Functions
template<int MaxRows, int MaxCols>
static void	createSelectorMat (typename RtMatrix< MaxRows, MaxCols >::d &selector_mat, const typename RtVector< MaxRows >::d &row_selector, int num_valids, double threshold)

template<int MaxRows, int MaxCols>
static void	removeZeroRows (typename RtMatrix< MaxRows, MaxCols >::d &mat, double threshold=remove_zero_thresh_)

template<typename Derived >
static void	conservativeResize (Eigen::MatrixBase< Derived > &mat, int rows, int cols)
	! Resize matrix by keeping data untouched without memory allocation. More...

template<typename Derived >
static void	resize (Eigen::MatrixBase< Derived > &mat, int rows, int cols)
	! Resize matrix without memory allocation. More...

template<typename Derived >
static void	setZero (Eigen::MatrixBase< Derived > &mat)

template<typename Derived >
static void	setZero (Eigen::MatrixBase< Derived > &mat, int rows, int cols)

template<typename Derived >
static void	setOnes (Eigen::MatrixBase< Derived > &mat)

template<typename Derived >
static void	setOnes (Eigen::MatrixBase< Derived > &mat, int rows, int cols)

template<typename Derived >
static void	setConstant (Eigen::MatrixBase< Derived > &mat, double scalar)

template<typename Derived >
static void	setConstant (Eigen::MatrixBase< Derived > &mat, int rows, int cols, double scalar)

template<typename Derived >
static void	setIdentity (Eigen::MatrixBase< Derived > &mat)

template<typename Derived >
static void	setIdentity (Eigen::MatrixBase< Derived > &mat, int rows)

template<typename AffMatDerived , typename SubstMatDerived >
static void	append (Eigen::MatrixBase< AffMatDerived > &aff_mat, const Eigen::MatrixBase< SubstMatDerived > &subst_mat)

template<typename AffMatDerived , typename SubstMatDerived >
static void	appendAtColumn (Eigen::MatrixBase< AffMatDerived > &aff_mat, const Eigen::MatrixBase< SubstMatDerived > &subst_mat, int starting_column)
	! Append a matrix at the end of another one starting from a certain column. More...

template<typename sigmaPinvDer , typename svdMatDer >
static void	computeSigmaPinv (Eigen::MatrixBase< sigmaPinvDer > &sigma_pinv_vec, const Eigen::JacobiSVD< svdMatDer > &mat_svd)

template<int _mat_rows, int _mat_cols, int _mat_align, int max_mat_rows, int max_mat_cols, typename nullDer >
static int	computeNullspaceMap (const Eigen::Matrix< double, _mat_rows, _mat_cols, _mat_align, max_mat_rows, max_mat_cols > &mat, Eigen::MatrixBase< nullDer > &null_map, const Eigen::JacobiSVD< typename RtMatrix< max_mat_rows, max_mat_cols >::d > &mat_svd, const double mat_cond_threas=mat_condition_thresh_)

template<typename Mat >
static double	conditionNumber (const Mat &mat)

template<typename Mat , int QRPreconditioner>
static double	conditionNumberFromSvd (const Eigen::JacobiSVD< Mat, QRPreconditioner > &mat_svd)

Static Public Attributes
static const double	remove_zero_thresh_

static const double	mat_condition_thresh_

Member Function Documentation

template<typename AffMatDerived , typename SubstMatDerived >

static void rt_solver::RtMatrixUtils::appendAtColumn	(	Eigen::MatrixBase< AffMatDerived > &	aff_mat,
		const Eigen::MatrixBase< SubstMatDerived > &	subst_mat,
		int	starting_column
	)

inlinestatic

! Append a matrix at the end of another one starting from a certain column.

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

template<typename Derived >

static void rt_solver::RtMatrixUtils::conservativeResize	(	Eigen::MatrixBase< Derived > &	mat,
		int	rows,
		int	cols
	)

inlinestatic

! Resize matrix by keeping data untouched without memory allocation.

Asserts that maximum size is not exceeded.

Parameters

mat
rows
cols

template<typename Derived >

static void rt_solver::RtMatrixUtils::resize	(	Eigen::MatrixBase< Derived > &	mat,
		int	rows,
		int	cols
	)

inlinestatic

! Resize matrix without memory allocation.

Asserts that maximum size is not exceeded.

Parameters

mat
rows
cols

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

include/solver/rt_optimizer/RtMatrix.hpp

Static Public Member Functions

Static Public Attributes

Member Function Documentation