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
83 lines
2.8 KiB
C++
83 lines
2.8 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) 2009 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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#ifndef EIGEN_MISC_IMAGE_H
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#define EIGEN_MISC_IMAGE_H
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namespace Eigen {
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namespace internal {
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/** \class image_retval_base
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*
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*/
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template<typename DecompositionType>
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struct traits<image_retval_base<DecompositionType> >
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{
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typedef typename DecompositionType::MatrixType MatrixType;
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typedef Matrix<
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typename MatrixType::Scalar,
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MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose
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// dimension is the number of rows of the original matrix
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Dynamic, // we don't know at compile time the dimension of the image (the rank)
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MatrixType::Options,
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MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
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MatrixType::MaxColsAtCompileTime // so it has the same number of rows and at most as many columns.
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> ReturnType;
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};
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template<typename _DecompositionType> struct image_retval_base
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: public ReturnByValue<image_retval_base<_DecompositionType> >
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{
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typedef _DecompositionType DecompositionType;
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typedef typename DecompositionType::MatrixType MatrixType;
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typedef ReturnByValue<image_retval_base> Base;
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image_retval_base(const DecompositionType& dec, const MatrixType& originalMatrix)
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: m_dec(dec), m_rank(dec.rank()),
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m_cols(m_rank == 0 ? 1 : m_rank),
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m_originalMatrix(originalMatrix)
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{}
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inline Index rows() const { return m_dec.rows(); }
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inline Index cols() const { return m_cols; }
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inline Index rank() const { return m_rank; }
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inline const DecompositionType& dec() const { return m_dec; }
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inline const MatrixType& originalMatrix() const { return m_originalMatrix; }
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template<typename Dest> inline void evalTo(Dest& dst) const
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{
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static_cast<const image_retval<DecompositionType>*>(this)->evalTo(dst);
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}
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protected:
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const DecompositionType& m_dec;
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Index m_rank, m_cols;
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const MatrixType& m_originalMatrix;
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};
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} // end namespace internal
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#define EIGEN_MAKE_IMAGE_HELPERS(DecompositionType) \
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typedef typename DecompositionType::MatrixType MatrixType; \
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typedef typename MatrixType::Scalar Scalar; \
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typedef typename MatrixType::RealScalar RealScalar; \
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typedef Eigen::internal::image_retval_base<DecompositionType> Base; \
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using Base::dec; \
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using Base::originalMatrix; \
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using Base::rank; \
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using Base::rows; \
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using Base::cols; \
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image_retval(const DecompositionType& dec, const MatrixType& originalMatrix) \
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: Base(dec, originalMatrix) {}
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} // end namespace Eigen
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#endif // EIGEN_MISC_IMAGE_H
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