sot-core
4.11.4
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_MEMORY_TASK_HH
11 #define __SOT_MEMORY_TASK_HH
26 typedef Eigen::Map<Matrix, Eigen::internal::traits<Matrix>::Alignment>
28 typedef Eigen::Map<const Matrix, Eigen::internal::traits<Matrix>::Alignment>
32 dynamicgraph::Vector err, tmpTask,
tmpVar, tmpControl;
33 dynamicgraph::Matrix
Jt;
35 dynamicgraph::Matrix
JK;
41 if (kernel.rows() != r || kernel.cols() != c) {
42 if (kernelMem.size() < r * c)
43 kernelMem.resize(r, c);
44 new (&kernel)
Kernel_t(kernelMem.data(), r, c);
60 void display(std::ostream &os)
const;
71 #endif // __SOT_MEMORY_TASK_HH
dynamicgraph::Matrix JK
Definition: memory-task-sot.hh:35
#define SOT_CORE_EXPORT
Definition: api.hh:20
Definition: task-abstract.hh:51
Definition: abstract-sot-external-interface.hh:17
Eigen::JacobiSVD< Matrix > SVD_t
Definition: matrix-svd.hh:22
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:39
Kernel_t & getKernel(const Matrix::Index r, const Matrix::Index c)
Definition: memory-task-sot.hh:48
dynamicgraph::Vector tmpVar
Definition: memory-task-sot.hh:32
SVD_t svd
Definition: memory-task-sot.hh:37
Kernel_t kernel
Definition: memory-task-sot.hh:38
Eigen::Map< Matrix, Eigen::internal::traits< Matrix >::Alignment > Kernel_t
Definition: memory-task-sot.hh:27
dynamicgraph::Matrix Jt
Definition: memory-task-sot.hh:33
Definition: memory-task-sot.hh:24
Eigen::Map< const Matrix, Eigen::internal::traits< Matrix >::Alignment > KernelConst_t
Definition: memory-task-sot.hh:29
void resizeKernel(const Matrix::Index r, const Matrix::Index c)
Definition: memory-task-sot.hh:40