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
91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
|
|
// for linear algebra.
|
|
//
|
|
// Copyright (C) 2007 Michael Olbrich <michael.olbrich@gmx.net>
|
|
// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
|
|
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
|
|
//
|
|
// This Source Code Form is subject to the terms of the Mozilla
|
|
// Public License v. 2.0. If a copy of the MPL was not distributed
|
|
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
|
|
|
#ifndef EIGEN_ASSIGN_H
|
|
#define EIGEN_ASSIGN_H
|
|
|
|
namespace Eigen {
|
|
|
|
template<typename Derived>
|
|
template<typename OtherDerived>
|
|
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
|
|
::lazyAssign(const DenseBase<OtherDerived>& other)
|
|
{
|
|
enum{
|
|
SameType = internal::is_same<typename Derived::Scalar,typename OtherDerived::Scalar>::value
|
|
};
|
|
|
|
EIGEN_STATIC_ASSERT_LVALUE(Derived)
|
|
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
|
|
EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
|
|
|
|
eigen_assert(rows() == other.rows() && cols() == other.cols());
|
|
internal::call_assignment_no_alias(derived(),other.derived());
|
|
|
|
return derived();
|
|
}
|
|
|
|
template<typename Derived>
|
|
template<typename OtherDerived>
|
|
EIGEN_DEVICE_FUNC
|
|
EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
|
|
{
|
|
internal::call_assignment(derived(), other.derived());
|
|
return derived();
|
|
}
|
|
|
|
template<typename Derived>
|
|
EIGEN_DEVICE_FUNC
|
|
EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other)
|
|
{
|
|
internal::call_assignment(derived(), other.derived());
|
|
return derived();
|
|
}
|
|
|
|
template<typename Derived>
|
|
EIGEN_DEVICE_FUNC
|
|
EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
|
|
{
|
|
internal::call_assignment(derived(), other.derived());
|
|
return derived();
|
|
}
|
|
|
|
template<typename Derived>
|
|
template <typename OtherDerived>
|
|
EIGEN_DEVICE_FUNC
|
|
EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
|
|
{
|
|
internal::call_assignment(derived(), other.derived());
|
|
return derived();
|
|
}
|
|
|
|
template<typename Derived>
|
|
template <typename OtherDerived>
|
|
EIGEN_DEVICE_FUNC
|
|
EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other)
|
|
{
|
|
internal::call_assignment(derived(), other.derived());
|
|
return derived();
|
|
}
|
|
|
|
template<typename Derived>
|
|
template<typename OtherDerived>
|
|
EIGEN_DEVICE_FUNC
|
|
EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
|
|
{
|
|
other.derived().evalTo(derived());
|
|
return derived();
|
|
}
|
|
|
|
} // end namespace Eigen
|
|
|
|
#endif // EIGEN_ASSIGN_H
|