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Moby
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A Sparse Jacobian representation along with multiplication routines. More...
#include <SparseJacobian.h>
Public Member Functions | |
| Ravelin::VectorNd & | mult (const Ravelin::VectorNd &x, Ravelin::VectorNd &result) const |
| Ravelin::MatrixNd & | mult (const Ravelin::MatrixNd &x, Ravelin::MatrixNd &result) const |
| Ravelin::MatrixNd & | transpose_mult (const Ravelin::MatrixNd &x, Ravelin::MatrixNd &result) const |
| Multiplies the transpose of this sparse Jacobian by a matrix. | |
| Ravelin::MatrixNd & | mult (const std::vector< MatrixBlock > &M, unsigned result_cols, Ravelin::MatrixNd &result) const |
| Ravelin::MatrixNd & | mult (const std::vector< Ravelin::MatrixNd > &M, Ravelin::MatrixNd &result) const |
| Ravelin::MatrixNd & | mult_transpose (const SparseJacobian &M, Ravelin::MatrixNd &result) const |
| Multiples this sparse Jacobian by the transpose of another sparse Jacobian. | |
| Ravelin::MatrixNd & | to_dense (Ravelin::MatrixNd &M) const |
| Converts a sparse Jacobian to a dense matrix (for debugging purposes) | |
Public Attributes | |
| std::vector< MatrixBlock > | blocks |
| unsigned | rows |
| unsigned | cols |
A Sparse Jacobian representation along with multiplication routines.
1.8.6