tsid::math Namespace Reference

Functions
void	SE3ToXYZQUAT (const pinocchio::SE3 &M, RefVector xyzQuat)
void	SE3ToVector (const pinocchio::SE3 &M, RefVector vec)
void	vectorToSE3 (RefVector vec, pinocchio::SE3 &M)
void	errorInSE3 (const pinocchio::SE3 &M, const pinocchio::SE3 &Mdes, pinocchio::Motion &error)
void	solveWithDampingFromSvd (Eigen::JacobiSVD< Eigen::MatrixXd > &svd, ConstRefVector b, RefVector sol, double damping)
void	svdSolveWithDamping (ConstRefMatrix A, ConstRefVector b, RefVector sol, double damping)
void	pseudoInverse (ConstRefMatrix A, RefMatrix Apinv, double tolerance, unsigned int computationOptions)
void	pseudoInverse (ConstRefMatrix A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, RefMatrix Apinv, double tolerance, unsigned int computationOptions)
void	pseudoInverse (ConstRefMatrix A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, RefMatrix Apinv, double tolerance, double *nullSpaceBasisOfA, int &nullSpaceRows, int &nullSpaceCols, unsigned int computationOptions)
void	dampedPseudoInverse (ConstRefMatrix A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, RefMatrix Apinv, double tolerance, double dampingFactor, unsigned int computationOptions, double *nullSpaceBasisOfA, int *nullSpaceRows, int *nullSpaceCols)
void	nullSpaceBasisFromDecomposition (const Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, double tolerance, double *nullSpaceBasisMatrix, int &rows, int &cols)
void	nullSpaceBasisFromDecomposition (const Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, int rank, double *nullSpaceBasisMatrix, int &rows, int &cols)

Function Documentation

dampedPseudoInverse()

void tsid::math::dampedPseudoInverse	(	ConstRefMatrix	A,
		Eigen::JacobiSVD< Eigen::MatrixXd > &	svdDecomposition,
		RefMatrix	Apinv,
		double	tolerance,
		double	dampingFactor,
		unsigned int	computationOptions,
		double *	nullSpaceBasisOfA,
		int *	nullSpaceRows,
		int *	nullSpaceCols
	)

errorInSE3()

void tsid::math::errorInSE3	(	const pinocchio::SE3 &	M,
		const pinocchio::SE3 &	Mdes,
		pinocchio::Motion &	error
	)

nullSpaceBasisFromDecomposition() [1/2]

void tsid::math::nullSpaceBasisFromDecomposition	(	const Eigen::JacobiSVD< Eigen::MatrixXd > &	svdDecomposition,
		double	tolerance,
		double *	nullSpaceBasisMatrix,
		int &	rows,
		int &	cols
	)

nullSpaceBasisFromDecomposition() [2/2]

void tsid::math::nullSpaceBasisFromDecomposition	(	const Eigen::JacobiSVD< Eigen::MatrixXd > &	svdDecomposition,
		int	rank,
		double *	nullSpaceBasisMatrix,
		int &	rows,
		int &	cols
	)

pseudoInverse() [1/3]

void tsid::math::pseudoInverse	(	ConstRefMatrix	A,
		Eigen::JacobiSVD< Eigen::MatrixXd > &	svdDecomposition,
		RefMatrix	Apinv,
		double	tolerance,
		double *	nullSpaceBasisOfA,
		int &	nullSpaceRows,
		int &	nullSpaceCols,
		unsigned int	computationOptions
	)

pseudoInverse() [2/3]

void tsid::math::pseudoInverse	(	ConstRefMatrix	A,
		Eigen::JacobiSVD< Eigen::MatrixXd > &	svdDecomposition,
		RefMatrix	Apinv,
		double	tolerance,
		unsigned int	computationOptions
	)

pseudoInverse() [3/3]

void tsid::math::pseudoInverse	(	ConstRefMatrix	A,
		RefMatrix	Apinv,
		double	tolerance,
		unsigned int	computationOptions
	)

SE3ToVector()

void tsid::math::SE3ToVector	(	const pinocchio::SE3 &	M,
		RefVector	vec
	)

SE3ToXYZQUAT()

void tsid::math::SE3ToXYZQUAT	(	const pinocchio::SE3 &	M,
		RefVector	xyzQuat
	)

solveWithDampingFromSvd()

void tsid::math::solveWithDampingFromSvd	(	Eigen::JacobiSVD< Eigen::MatrixXd > &	svd,
		ConstRefVector	b,
		RefVector	sol,
		double	damping
	)

svdSolveWithDamping()

void tsid::math::svdSolveWithDamping	(	ConstRefMatrix	A,
		ConstRefVector	b,
		RefVector	sol,
		double	damping
	)

vectorToSE3()

void tsid::math::vectorToSE3	(	RefVector	vec,
		pinocchio::SE3 &	M
	)