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
80 lines
2.7 KiB
C++
80 lines
2.7 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_KERNEL_H
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#define EIGEN_MISC_KERNEL_H
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namespace Eigen {
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namespace internal {
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/** \class kernel_retval_base
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*
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*/
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template<typename DecompositionType>
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struct traits<kernel_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::ColsAtCompileTime, // the number of rows in the "kernel matrix"
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// is the number of cols of the original matrix
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// so that the product "matrix * kernel = zero" makes sense
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Dynamic, // we don't know at compile-time the dimension of the kernel
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MatrixType::Options,
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MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
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MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space,
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// whose dimension is the number of columns of the original matrix
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> ReturnType;
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};
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template<typename _DecompositionType> struct kernel_retval_base
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: public ReturnByValue<kernel_retval_base<_DecompositionType> >
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{
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typedef _DecompositionType DecompositionType;
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typedef ReturnByValue<kernel_retval_base> Base;
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explicit kernel_retval_base(const DecompositionType& dec)
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: m_dec(dec),
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m_rank(dec.rank()),
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m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank)
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{}
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inline Index rows() const { return m_dec.cols(); }
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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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template<typename Dest> inline void evalTo(Dest& dst) const
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{
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static_cast<const kernel_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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};
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} // end namespace internal
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#define EIGEN_MAKE_KERNEL_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::kernel_retval_base<DecompositionType> Base; \
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using Base::dec; \
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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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kernel_retval(const DecompositionType& dec) : Base(dec) {}
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} // end namespace Eigen
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#endif // EIGEN_MISC_KERNEL_H
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