SolverUtilities.hxx File Reference

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Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.
	ocra::utils
	ocra::utils::details

Functions
template<class Derived , class VectorBase >
void	ocra::utils::printLinearEquation (const MatrixBase< Derived > &A, const VectorBase &b, int space=9, int precision=3)
template<class Derived1 , class Derived2 >
void	ocra::utils::uncompressByCol (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::uncompressByCol (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::uncompressByRow (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::uncompressByRow (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::uncompress2d (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::uncompress2d (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::addCompressedByCol (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::addCompressedByCol (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::addCompressedByRow (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::addCompressedByRow (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::addCompressed2d (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::addCompressed2d (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::minCompressedByCol (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::minCompressedByCol (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::minCompressedByRow (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::minCompressedByRow (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::minCompressed2d (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::minCompressed2d (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::maxCompressedByCol (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::maxCompressedByCol (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::maxCompressedByRow (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::maxCompressedByRow (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived1 , class Derived2 >
void	ocra::utils::maxCompressed2d (const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &_out, const std::vector< int > &mapping, double scale, bool reverseMapping)
template<class Derived1 , class Derived2 >
void	ocra::utils::maxCompressed2d (const Variable &base, const Variable &rel, const MatrixBase< Derived1 > &in, MatrixBase< Derived2 > const &out, std::vector< int > &mapping, double scale)
template<class Derived , class VectorDerived >
void	ocra::utils::details::convert_ (const LinearConstraint &cstr, eConstraintType apparentType, const std::vector< int > &mapping, eConvertCase convertCase, MatrixBase< Derived > &A, MatrixBase< VectorDerived > const &_b)
template<class DerivedIn , class VectorBaseIn1 , class VectorBaseIn2 , class DerivedOut , class VectorBaseOut >
void	ocra::utils::details::convert (const MatrixBase< DerivedIn > &M, const VectorBaseIn1 &v1, const VectorBaseIn2 &v2, MatrixBase< DerivedOut > &A, VectorBaseOut &b, const std::vector< int > &mapping, details::eConvertCase convertCase)
template<class Derived , class VectorBase1 , class VectorBase2 >
void	ocra::utils::convert (const LinearConstraint &cstr, const std::vector< int > &mapping, eConstraintOutput type, MatrixBase< Derived > &A, VectorBase1 &b, VectorBase2 &l, double infinity=0.)
template<class VectorBase1 , class VectorBase2 >
void	ocra::utils::intersectBounds (const DiagonalLinearConstraint &bounds, const std::vector< int > &mapping, VectorBase1 &bl, VectorBase2 &bu)