qpmad
Eigen-based C++ QP solver.
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Classes | |
class | SelectionMatrix |
Selection matrix. More... | |
Typedefs | |
typedef Eigen::Matrix< unsigned int, Eigen::Dynamic, 1 > | IndexVector |
typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE | EigenIndex |
typedef double | DefaultScalar |
typedef Eigen::Matrix< DefaultScalar, Eigen::Dynamic, Eigen::Dynamic > | DefaultDynamicMatrix |
Functions | |
void | getRandomPositiveDefinititeMatrix (Eigen::MatrixXd &M, const std::size_t size) |
template<typename t_Derived > | |
void | unsetMatrix (Eigen::DenseBase< t_Derived > &matrix) |
Unset matrix (initialize to NaN) More... | |
template<class t_DerivedOutput , class t_DerivedInput > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | getATA (Eigen::PlainObjectBase< t_DerivedOutput > &result, const Eigen::DenseBase< t_DerivedInput > &A) |
result = A^T * A More... | |
template<class t_DerivedOutput , class t_DerivedInput > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | getATA (Eigen::PlainObjectBase< t_DerivedOutput > &result, const Eigen::DenseBase< t_DerivedInput > &A, const std::ptrdiff_t offset, const std::ptrdiff_t num_el) |
result.diagonalBlock() = A^T * A More... | |
template<class t_DerivedOutput , class t_DerivedInput > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | addATA (Eigen::DenseBase< t_DerivedOutput > &result, const Eigen::DenseBase< t_DerivedInput > &A) |
result += A^T * A More... | |
template<class t_DerivedOutput , class t_DerivedInput > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | addATA (Eigen::DenseBase< t_DerivedOutput > &result, const Eigen::DenseBase< t_DerivedInput > &A, const std::ptrdiff_t offset) |
result.diagonalBlock() += A^T * A More... | |
template<class t_Derived > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | convertLLTtoSymmetric (Eigen::PlainObjectBase< t_Derived > &matrix) |
Converts left lower triangular matrix to a symmetric matrix. More... | |
template<class t_DerivedMatrix , class t_DerivedRotation , class t_DerivedTranslation > | |
Eigen::Matrix< typename Eigen::MatrixBase< t_DerivedMatrix >::Scalar, Eigen::MatrixBase< t_DerivedMatrix >::RowsAtCompileTime, Eigen::MatrixBase< t_DerivedMatrix >::ColsAtCompileTime > QPMAD_UTILS_VISIBILITY_ATTRIBUTE | transform (const Eigen::MatrixBase< t_DerivedMatrix > &matrix, const Eigen::MatrixBase< t_DerivedRotation > &rotation, const Eigen::MatrixBase< t_DerivedTranslation > &translation) |
Transform the input positions given as a concatenated set of 2d/3d vectors, given M = [v1, v2, ...], returns M_new = [R*v1 + t, R*v2 + t, ...]. More... | |
template<typename t_Scalar , int t_rows, int t_cols, int t_flags> | |
QPMAD_UTILS_DYNAMIC_MATRIX (t_Scalar) QPMAD_UTILS_VISIBILITY_ATTRIBUTE makeBlockDiagonal(const std | |
Create a diagonal matrix consisting of the input matrices. More... | |
template<class t_DerivedInput > | |
QPMAD_UTILS_DYNAMIC_MATRIX (typename Eigen::DenseBase< t_DerivedInput >::Scalar) QPMAD_UTILS_VISIBILITY_ATTRIBUTE makeBlockDiagonal(const Eigen | |
Create a diagonal matrix replicating the input matrix. More... | |
template<class t_DerivedOutput , typename t_Scalar , int t_rows, int t_cols, int t_flags> | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | concatenateMatricesVertically (Eigen::PlainObjectBase< t_DerivedOutput > &result, const std::vector< Eigen::Matrix< t_Scalar, t_rows, t_cols, t_flags > > &matrices) |
Concatenate matrices vertically, [A;B;C; ...]. More... | |
template<class t_DerivedOutput , class t_DerivedInput1 , class t_DerivedInput2 > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | concatenateMatricesHorizontally (Eigen::PlainObjectBase< t_DerivedOutput > &result, const Eigen::DenseBase< t_DerivedInput1 > &matrix1, const Eigen::DenseBase< t_DerivedInput2 > &matrix2) |
Concatenate matrices horizontally, [A B C ...]. More... | |
template<class t_DerivedOutput , class t_DerivedInput1 , class t_DerivedInput2 , class t_DerivedInput3 > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | concatenateMatricesHorizontally (Eigen::PlainObjectBase< t_DerivedOutput > &result, const Eigen::DenseBase< t_DerivedInput1 > &matrix1, const Eigen::DenseBase< t_DerivedInput2 > &matrix2, const Eigen::DenseBase< t_DerivedInput3 > &matrix3) |
Concatenate matrices horizontally, [A B C ...]. More... | |
template<class t_Derived > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | removeRow (Eigen::PlainObjectBase< t_Derived > &matrix, const std::ptrdiff_t row_to_remove) |
Remove a row with the specified index. More... | |
template<class t_Derived > | |
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE | removeColumn (Eigen::PlainObjectBase< t_Derived > &matrix, const std::ptrdiff_t column_to_remove) |
Remove a column with the specified index. More... | |
template<class t_Derived > | |
QPMAD_UTILS_DYNAMIC_MATRIX (typename Eigen::DenseBase< t_Derived >::Scalar) QPMAD_UTILS_VISIBILITY_ATTRIBUTE multiplyBlockKroneckerIdentity(const Eigen | |
Custom Kronecker product: blocks of the input matrix are treated as single elements. More... | |
template<class t_Derived > | |
Eigen::Map< const QPMAD_UTILS_DYNAMIC_MATRIX(typename Eigen::PlainObjectBase< t_Derived >::Scalar), Eigen::Unaligned, Eigen::Stride< Eigen::Dynamic, Eigen::Dynamic > > QPMAD_UTILS_VISIBILITY_ATTRIBUTE | selectRows (const Eigen::PlainObjectBase< t_Derived > &matrix, const std::size_t row_step, const std::size_t first_row=0) |
Select rows from a matrix, in Matlab notation the result is M(first:step:end, :). More... | |
template<class t_Derived > | |
Eigen::Map< const QPMAD_UTILS_DYNAMIC_MATRIX(typename Eigen::PlainObjectBase< t_Derived >::Scalar), Eigen::Unaligned, Eigen::Stride< Eigen::Dynamic, Eigen::Dynamic > > QPMAD_UTILS_VISIBILITY_ATTRIBUTE | operator * (const SelectionMatrix &selector, const Eigen::PlainObjectBase< t_Derived > &matrix) |
Multiply selection matrix by a generic Eigen matrix (select rows) More... | |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (2) Vector2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (3) Vector3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (4) Vector4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (5) Vector5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (6) Vector6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (7) Vector7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (8) Vector8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (9) Vector9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_VECTOR (10) Vector10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 2) Matrix2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 3) Matrix3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 4) Matrix4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 5) Matrix5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 6) Matrix6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 7) Matrix7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 8) Matrix8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 9) Matrix9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 10) Matrix10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 2) Matrix1x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 3) Matrix1x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 4) Matrix1x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 5) Matrix1x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 6) Matrix1x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 7) Matrix1x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 8) Matrix1x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 9) Matrix1x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (1, 10) Matrix1x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 3) Matrix2x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 4) Matrix2x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 5) Matrix2x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 6) Matrix2x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 7) Matrix2x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 8) Matrix2x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 9) Matrix2x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (2, 10) Matrix2x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 2) Matrix3x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 4) Matrix3x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 5) Matrix3x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 6) Matrix3x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 7) Matrix3x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 8) Matrix3x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 9) Matrix3x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (3, 10) Matrix3x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 2) Matrix4x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 3) Matrix4x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 5) Matrix4x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 6) Matrix4x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 7) Matrix4x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 8) Matrix4x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 9) Matrix4x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (4, 10) Matrix4x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 2) Matrix5x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 3) Matrix5x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 4) Matrix5x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 6) Matrix5x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 7) Matrix5x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 8) Matrix5x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 9) Matrix5x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (5, 10) Matrix5x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 2) Matrix6x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 3) Matrix6x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 4) Matrix6x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 5) Matrix6x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 7) Matrix6x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 8) Matrix6x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 9) Matrix6x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (6, 10) Matrix6x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 2) Matrix7x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 3) Matrix7x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 4) Matrix7x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 5) Matrix7x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 6) Matrix7x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 8) Matrix7x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 9) Matrix7x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (7, 10) Matrix7x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 2) Matrix8x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 3) Matrix8x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 4) Matrix8x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 5) Matrix8x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 6) Matrix8x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 7) Matrix8x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 9) Matrix8x9 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (8, 10) Matrix8x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 2) Matrix9x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 3) Matrix9x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 4) Matrix9x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 5) Matrix9x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 6) Matrix9x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 7) Matrix9x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 8) Matrix9x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (9, 10) Matrix9x10 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 2) Matrix10x2 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 3) Matrix10x3 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 4) Matrix10x4 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 5) Matrix10x5 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 6) Matrix10x6 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 7) Matrix10x7 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 8) Matrix10x8 |
typedef | QPMAD_UTILS_CONSTANT_SIZE_MATRIX (10, 9) Matrix10x9 |
typedef Eigen::Matrix<DefaultScalar, Eigen::Dynamic, Eigen::Dynamic> qpmad_utils::DefaultDynamicMatrix |
Definition at line 33 of file eigenut_types.h.
typedef double qpmad_utils::DefaultScalar |
Definition at line 30 of file eigenut_types.h.
typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE qpmad_utils::EigenIndex |
Index type used by Eigen. We should not use Eigen::DenseIndex since it is going to be deprecated in new versions of Eigen. May be EigenIndex should be defined depending on the version of Eigen.
Definition at line 27 of file eigenut_types.h.
typedef Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> qpmad_utils::IndexVector |
Definition at line 20 of file eigenut_types.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::addATA | ( | Eigen::DenseBase< t_DerivedOutput > & | result, |
const Eigen::DenseBase< t_DerivedInput > & | A | ||
) |
result += A^T * A
t_DerivedOutput | Eigen parameter |
t_DerivedInput | Eigen parameter |
[in,out] | result | |
[in] | A |
Definition at line 142 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::addATA | ( | Eigen::DenseBase< t_DerivedOutput > & | result, |
const Eigen::DenseBase< t_DerivedInput > & | A, | ||
const std::ptrdiff_t | offset | ||
) |
result.diagonalBlock() += A^T * A
t_DerivedOutput | Eigen parameter |
t_DerivedInput | Eigen parameter |
[in,out] | result | |
[in] | A | |
[in] | offset | offset of A in result |
Definition at line 167 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::concatenateMatricesHorizontally | ( | Eigen::PlainObjectBase< t_DerivedOutput > & | result, |
const Eigen::DenseBase< t_DerivedInput1 > & | matrix1, | ||
const Eigen::DenseBase< t_DerivedInput2 > & | matrix2 | ||
) |
Concatenate matrices horizontally, [A B C ...].
t_DerivedOutput | Eigen parameter |
t_DerivedInput1 | Eigen parameter |
t_DerivedInput2 | Eigen parameter |
[out] | result | result of concatenation |
[in] | matrix1 | |
[in] | matrix2 |
Definition at line 416 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::concatenateMatricesHorizontally | ( | Eigen::PlainObjectBase< t_DerivedOutput > & | result, |
const Eigen::DenseBase< t_DerivedInput1 > & | matrix1, | ||
const Eigen::DenseBase< t_DerivedInput2 > & | matrix2, | ||
const Eigen::DenseBase< t_DerivedInput3 > & | matrix3 | ||
) |
Concatenate matrices horizontally, [A B C ...].
t_DerivedOutput | Eigen parameter |
t_DerivedInput1 | Eigen parameter |
t_DerivedInput2 | Eigen parameter |
t_DerivedInput3 | Eigen parameter |
[out] | result | result of concatenation |
[in] | matrix1 | |
[in] | matrix2 | |
[in] | matrix3 |
Definition at line 464 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::concatenateMatricesVertically | ( | Eigen::PlainObjectBase< t_DerivedOutput > & | result, |
const std::vector< Eigen::Matrix< t_Scalar, t_rows, t_cols, t_flags > > & | matrices | ||
) |
Concatenate matrices vertically, [A;B;C; ...].
t_DerivedOutput | Eigen parameter |
t_Scalar | Eigen parameter (input) |
t_rows | Eigen parameter (input) |
t_cols | Eigen parameter (input) |
t_flags | Eigen parameter (input) |
[out] | result | result of concatenation |
[in] | matrices | matrices |
Definition at line 352 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::convertLLTtoSymmetric | ( | Eigen::PlainObjectBase< t_Derived > & | matrix | ) |
Converts left lower triangular matrix to a symmetric matrix.
t_Derived | Eigen parameter |
[in,out] | matrix |
Definition at line 192 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::getATA | ( | Eigen::PlainObjectBase< t_DerivedOutput > & | result, |
const Eigen::DenseBase< t_DerivedInput > & | A | ||
) |
result = A^T * A
t_DerivedOutput | Eigen parameter |
t_DerivedInput | Eigen parameter |
[out] | result | |
[in] | A |
Definition at line 84 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::getATA | ( | Eigen::PlainObjectBase< t_DerivedOutput > & | result, |
const Eigen::DenseBase< t_DerivedInput > & | A, | ||
const std::ptrdiff_t | offset, | ||
const std::ptrdiff_t | num_el | ||
) |
result.diagonalBlock() = A^T * A
t_DerivedOutput | Eigen parameter |
t_DerivedInput | Eigen parameter |
[out] | result | |
[in] | A | |
[in] | offset | offset of A in result |
[in] | num_el | size of result |
Definition at line 111 of file eigenut_misc.h.
|
inline |
Definition at line 43 of file eigenut_misc.h.
|
inline |
Multiply selection matrix by a generic Eigen matrix (select rows)
t_Derived | Eigen parameter |
[in] | selector | |
[in] | matrix |
Definition at line 703 of file eigenut_misc.h.
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 1 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 2 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 3 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 4 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 5 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 6 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 7 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 8 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 9 | , |
10 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
2 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
3 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
4 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
5 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
6 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
7 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
8 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_MATRIX | ( | 10 | , |
9 | |||
) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 2 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 3 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 4 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 5 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 6 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 7 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 8 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 9 | ) |
typedef qpmad_utils::QPMAD_UTILS_CONSTANT_SIZE_VECTOR | ( | 10 | ) |
qpmad_utils::QPMAD_UTILS_DYNAMIC_MATRIX | ( | t_Scalar | ) | const |
Create a diagonal matrix consisting of the input matrices.
t_Scalar | Eigen parameter (input) |
t_rows | Eigen parameter (input) |
t_cols | Eigen parameter (input) |
t_flags | Eigen parameter (input) |
[in] | input_matrices | vector of smaller matrices to be placed into a large block diagonal matrix |
Definition at line 246 of file eigenut_misc.h.
qpmad_utils::QPMAD_UTILS_DYNAMIC_MATRIX | ( | typename Eigen::DenseBase< t_DerivedInput >::Scalar | ) | const |
Create a diagonal matrix replicating the input matrix.
t_DerivedInput | Eigen parameter (input) |
[in] | input_matrix | matrix to be replicated into block diagonal |
[in] | num_copies | determines the output size |
Definition at line 302 of file eigenut_misc.h.
qpmad_utils::QPMAD_UTILS_DYNAMIC_MATRIX | ( | typename Eigen::DenseBase< t_Derived >::Scalar | ) | const |
Custom Kronecker product: blocks of the input matrix are treated as single elements.
t_Derived | Eigen parameter |
[in] | input | input matrix |
[in] | input_block_rows | rows in a block |
[in] | input_block_cols | cols in a block |
[in] | identity_size | size of the identity matrix used in the product |
Definition at line 581 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::removeColumn | ( | Eigen::PlainObjectBase< t_Derived > & | matrix, |
const std::ptrdiff_t | column_to_remove | ||
) |
Remove a column with the specified index.
t_Derived | Eigen parameter |
[in,out] | matrix | matrix |
[in] | column_to_remove | index of a column |
Definition at line 549 of file eigenut_misc.h.
void QPMAD_UTILS_VISIBILITY_ATTRIBUTE qpmad_utils::removeRow | ( | Eigen::PlainObjectBase< t_Derived > & | matrix, |
const std::ptrdiff_t | row_to_remove | ||
) |
Remove a row with the specified index.
t_Derived | Eigen parameter |
[in,out] | matrix | matrix |
[in] | row_to_remove | index of a row |
Definition at line 517 of file eigenut_misc.h.
|
inline |
Select rows from a matrix, in Matlab notation the result is M(first:step:end, :).
t_Derived | Eigen parameter |
[in] | matrix | input matrix |
[in] | row_step | each 'row_step' is selected from the input matrix |
[in] | first_row | starting from 'first_row' |
Definition at line 643 of file eigenut_misc.h.
|
inline |
Transform the input positions given as a concatenated set of 2d/3d vectors, given M = [v1, v2, ...], returns M_new = [R*v1 + t, R*v2 + t, ...].
t_DerivedMatrix | Eigen parameter |
t_DerivedRotation | Eigen parameter |
t_DerivedTranslation | Eigen parameter |
[in] | matrix | matrix containing vectors (M) |
[in] | rotation | rotation matrix (R) |
[in] | translation | translation vector (t) |
Definition at line 221 of file eigenut_misc.h.
void qpmad_utils::unsetMatrix | ( | Eigen::DenseBase< t_Derived > & | matrix | ) |
Unset matrix (initialize to NaN)
t_Derived | matrix data type |
[in,out] | matrix |
Definition at line 58 of file eigenut_misc.h.