rdl_mathutils.cpp File Reference

#include <cmath>
#include <limits>
#include <iostream>
#include <assert.h>
#include "rdl_dynamics/rdl_mathutils.hpp"
#include <rdl_dynamics/Model.hpp>

Include dependency graph for rdl_mathutils.cpp:

Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.
	RobotDynamics::Math
	Math types such as vectors and matrices and utility functions.

Functions
bool	RobotDynamics::Math::linSolveGaussElimPivot (MatrixNd A, VectorNd b, VectorNd &x)
	Solves a linear system using gaussian elimination with pivoting. More...
Matrix3d	RobotDynamics::Math::parallel_axis (const Matrix3d &inertia, double mass, const Vector3d &com)
	Translates the inertia matrix to a new center. More...
void	RobotDynamics::Math::SparseFactorizeLTL (Model &model, Math::MatrixNd &H)
void	RobotDynamics::Math::SparseSolveLx (Model &model, Math::MatrixNd &L, Math::VectorNd &x)
void	RobotDynamics::Math::SparseSolveLTx (Model &model, Math::MatrixNd &L, Math::VectorNd &x)

Variables
Vector3d	RobotDynamics::Math::Vector3dZero (0., 0., 0.)
Matrix3d	RobotDynamics::Math::Matrix3dIdentity (1., 0., 0., 0., 1., 0., 0., 0., 1)
Matrix3d	RobotDynamics::Math::Matrix3dZero (0., 0., 0., 0., 0., 0., 0., 0., 0.)
Quaternion	RobotDynamics::Math::QuaternionIdentity (0., 0., 0., 1)
SpatialVector	RobotDynamics::Math::SpatialVectorZero (0., 0., 0., 0., 0., 0.)
SpatialMatrix	RobotDynamics::Math::SpatialMatrixIdentity (1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1.)
SpatialMatrix	RobotDynamics::Math::SpatialMatrixZero (0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.)