ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
86 lines
2.9 KiB
C
86 lines
2.9 KiB
C
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
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// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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// This file is included into the body of the base classes supporting matrix specific coefficient-wise functions.
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// This include MatrixBase and SparseMatrixBase.
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typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> CwiseAbsReturnType;
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typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> CwiseAbs2ReturnType;
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typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> CwiseSqrtReturnType;
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typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> CwiseSignReturnType;
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typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> CwiseInverseReturnType;
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/// \returns an expression of the coefficient-wise absolute value of \c *this
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///
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/// Example: \include MatrixBase_cwiseAbs.cpp
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/// Output: \verbinclude MatrixBase_cwiseAbs.out
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///
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EIGEN_DOC_UNARY_ADDONS(cwiseAbs,absolute value)
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///
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/// \sa cwiseAbs2()
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///
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EIGEN_DEVICE_FUNC
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EIGEN_STRONG_INLINE const CwiseAbsReturnType
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cwiseAbs() const { return CwiseAbsReturnType(derived()); }
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/// \returns an expression of the coefficient-wise squared absolute value of \c *this
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///
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/// Example: \include MatrixBase_cwiseAbs2.cpp
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/// Output: \verbinclude MatrixBase_cwiseAbs2.out
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///
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EIGEN_DOC_UNARY_ADDONS(cwiseAbs2,squared absolute value)
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///
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/// \sa cwiseAbs()
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///
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EIGEN_DEVICE_FUNC
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EIGEN_STRONG_INLINE const CwiseAbs2ReturnType
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cwiseAbs2() const { return CwiseAbs2ReturnType(derived()); }
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/// \returns an expression of the coefficient-wise square root of *this.
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///
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/// Example: \include MatrixBase_cwiseSqrt.cpp
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/// Output: \verbinclude MatrixBase_cwiseSqrt.out
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///
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EIGEN_DOC_UNARY_ADDONS(cwiseSqrt,square-root)
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///
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/// \sa cwisePow(), cwiseSquare()
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///
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EIGEN_DEVICE_FUNC
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inline const CwiseSqrtReturnType
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cwiseSqrt() const { return CwiseSqrtReturnType(derived()); }
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/// \returns an expression of the coefficient-wise signum of *this.
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///
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/// Example: \include MatrixBase_cwiseSign.cpp
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/// Output: \verbinclude MatrixBase_cwiseSign.out
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///
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EIGEN_DOC_UNARY_ADDONS(cwiseSign,sign function)
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///
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EIGEN_DEVICE_FUNC
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inline const CwiseSignReturnType
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cwiseSign() const { return CwiseSignReturnType(derived()); }
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/// \returns an expression of the coefficient-wise inverse of *this.
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///
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/// Example: \include MatrixBase_cwiseInverse.cpp
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/// Output: \verbinclude MatrixBase_cwiseInverse.out
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///
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EIGEN_DOC_UNARY_ADDONS(cwiseInverse,inverse)
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///
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/// \sa cwiseProduct()
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///
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EIGEN_DEVICE_FUNC
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inline const CwiseInverseReturnType
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cwiseInverse() const { return CwiseInverseReturnType(derived()); }
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