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
41 lines
1.3 KiB
Plaintext
41 lines
1.3 KiB
Plaintext
// 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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// 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_UMFPACKSUPPORT_MODULE_H
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#define EIGEN_UMFPACKSUPPORT_MODULE_H
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#include "SparseCore"
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#include "src/Core/util/DisableStupidWarnings.h"
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extern "C" {
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#include <umfpack.h>
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}
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/** \ingroup Support_modules
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* \defgroup UmfPackSupport_Module UmfPackSupport module
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*
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* This module provides an interface to the UmfPack library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
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* It provides the following factorization class:
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* - class UmfPackLU: a multifrontal sequential LU factorization.
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*
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* \code
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* #include <Eigen/UmfPackSupport>
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* \endcode
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*
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* In order to use this module, the umfpack headers must be accessible from the include paths, and your binary must be linked to the umfpack library and its dependencies.
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* The dependencies depend on how umfpack has been compiled.
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* For a cmake based project, you can use our FindUmfPack.cmake module to help you in this task.
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*
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*/
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#include "src/UmfPackSupport/UmfPackSupport.h"
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#include "src/Core/util/ReenableStupidWarnings.h"
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#endif // EIGEN_UMFPACKSUPPORT_MODULE_H
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