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