sot-core
4.10.1
Hierarchical task solver plug-in for dynamic-graph.
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Namespaces | |
sot | |
Typedefs | |
typedef Eigen::JacobiSVD< Matrix > | SVD_t |
Functions | |
void | pseudoInverse (Matrix &_inputMatrix, Matrix &_inverseMatrix, const double threshold=1e-6) |
void | dampedInverse (const SVD_t &svd, Matrix &_inverseMatrix, const double threshold=1e-6) |
void | dampedInverse (const Matrix &_inputMatrix, Matrix &_inverseMatrix, Matrix &Uref, Vector &Sref, Matrix &Vref, const double threshold=1e-6) |
void | dampedInverse (const Matrix &_inputMatrix, Matrix &_inverseMatrix, const double threshold=1e-6) |
pinocchio is forcing the BOOST_MPL_LIMIT_VECTOR_SIZE to a specific value. This happen to be not working when including the boost property_tree library. For this reason if defined, the current value of BOOST_MPL_LIMIT_VECTOR_SIZE is saved in the preprocessor stack and unset. Once the property_tree included the pinocchio value of this variable is restored.
typedef Eigen::JacobiSVD<Matrix> dynamicgraph::SVD_t |
void dynamicgraph::dampedInverse | ( | const SVD_t & | svd, |
Matrix & | _inverseMatrix, | ||
const double | threshold = 1e-6 |
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void dynamicgraph::dampedInverse | ( | const Matrix & | _inputMatrix, |
Matrix & | _inverseMatrix, | ||
Matrix & | Uref, | ||
Vector & | Sref, | ||
Matrix & | Vref, | ||
const double | threshold = 1e-6 |
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) |
void dynamicgraph::dampedInverse | ( | const Matrix & | _inputMatrix, |
Matrix & | _inverseMatrix, | ||
const double | threshold = 1e-6 |
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void dynamicgraph::pseudoInverse | ( | Matrix & | _inputMatrix, |
Matrix & | _inverseMatrix, | ||
const double | threshold = 1e-6 |
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) |