math.hpp File Reference

Math utilities. More...

#include <Eigen/Core>

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Classes
struct	aligator::math_types< _Scalar >
	Typedefs for math (Eigen vectors, matrices) depending on scalar type. More...

Namespaces
namespace	aligator
	Main package namespace.
namespace	aligator::math
	Math utilities.

Macros
#define	ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
#define	ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES(Scalar)
#define	ALIGATOR_EIGEN_ALLOW_MALLOC(allowed)
#define	ALIGATOR_NOMALLOC_SCOPED
#define	ALIGATOR_NOMALLOC_RESTORE
#define	ALIGATOR_NOMALLOC_BEGIN   ALIGATOR_EIGEN_ALLOW_MALLOC(false)
	Entering performance-critical code.
#define	ALIGATOR_NOMALLOC_END   ALIGATOR_EIGEN_ALLOW_MALLOC(true)
	Exiting performance-critical code.

Typedefs
template<typename T, typename T2 = void>
using	aligator::enable_if_eigen_dense = std::enable_if_t<is_eigen_dense_type<T>, T2>

Functions
template<typename D>
auto	aligator::eigenPrintWithPreamble (const Eigen::EigenBase< D > &mat, const std::string &text, Eigen::IOFormat ft=EIGEN_DEFAULT_IO_FORMAT)
template<typename MatType>
MatType::Scalar	aligator::math::infty_norm (const Eigen::MatrixBase< MatType > &z)
template<typename MatType>
MatType::Scalar	aligator::math::infty_norm (const std::vector< MatType > &z)
template<typename Scalar>
bool	aligator::math::check_scalar (const Scalar value)
	Check that a scalar is neither inf, nor NaN.
template<typename T>
bool	aligator::math::check_value (const std::vector< T > &xs)
	Check if a std::vector of numerical objects has invalid values.
template<typename T, typename = std::enable_if_t<std::is_scalar<T>::value>>
bool	aligator::math::check_value (const T &x)
template<typename MatrixType>
bool	aligator::math::check_value (const Eigen::MatrixBase< MatrixType > &x)
template<typename Scalar>
bool	aligator::math::scalar_close (const Scalar a, const Scalar b, const Scalar prec=std::numeric_limits< Scalar >::epsilon())
	Tests whether a and b are close, within absolute and relative precision prec.
template<typename T>
T	aligator::math::sign (const T &x)
template<typename Derived, unsigned int UpLo = Eigen::Lower>
void	aligator::math::make_symmetric (const Eigen::MatrixBase< Derived > &matrix)
	Symmetrize a matrix using its lower triangular part.
template<typename T>
void	aligator::math::setZero (std::vector< T > &mats)
template<typename A, typename B, typename OutType, typename Scalar>
void	aligator::math::vectorMultiplyAdd (const std::vector< A > &a, const std::vector< B > &b, std::vector< OutType > &c, const Scalar alpha)
	Compute zi = xi + alpha * yi for all i.

Variables
template<typename T>
constexpr bool	aligator::is_eigen_dense_type
template<typename T>
constexpr bool	aligator::is_eigen_matrix_type

Detailed Description

Math utilities.

Copyright

Copyright (C) 2022-2024 LAAS-CNRS, 2022-2025 INRIA

Definition in file math.hpp.

Macro Definition Documentation

ALIGATOR_DYNAMIC_TYPEDEFS

#define ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

Value:

  using VectorXs = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;                   \
  using MatrixXs = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>;      \
  using VectorOfVectors = std::vector<VectorXs>;                               \
  using VectorRef = Eigen::Ref<VectorXs>;                                      \
  using MatrixRef = Eigen::Ref<MatrixXs>;                                      \
  using ConstVectorRef = Eigen::Ref<const VectorXs>;                           \
  using ConstMatrixRef = Eigen::Ref<const MatrixXs>;                           \
  using Vector3s = Eigen::Matrix<Scalar, 3, 1>;                                \
  using Vector6s = Eigen::Matrix<Scalar, 6, 1>;                                \
  using Matrix3Xs = Eigen::Matrix<Scalar, 3, Eigen::Dynamic>;                  \
  using Matrix6Xs = Eigen::Matrix<Scalar, 6, Eigen::Dynamic>;                  \
  using Matrix6s = Eigen::Matrix<Scalar, 6, 6>

Definition at line 8 of file math.hpp.

ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES

#define ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES

(

Scalar

)

Value:

  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);                                           \
  using RowMatrixXs = typename Eigen::Transpose<MatrixXs>::PlainObject;        \
  using RowMatrixRef = Eigen::Ref<RowMatrixXs>;                                \
  using ConstRowMatrixRef = Eigen::Ref<const RowMatrixXs>

Definition at line 22 of file math.hpp.

ALIGATOR_EIGEN_ALLOW_MALLOC

#define ALIGATOR_EIGEN_ALLOW_MALLOC

(

allowed

)

Definition at line 43 of file math.hpp.

ALIGATOR_NOMALLOC_SCOPED

#define ALIGATOR_NOMALLOC_SCOPED

Definition at line 44 of file math.hpp.

ALIGATOR_NOMALLOC_RESTORE

#define ALIGATOR_NOMALLOC_RESTORE

Definition at line 45 of file math.hpp.

ALIGATOR_NOMALLOC_BEGIN

#define ALIGATOR_NOMALLOC_BEGIN   ALIGATOR_EIGEN_ALLOW_MALLOC(false)

Entering performance-critical code.

Definition at line 49 of file math.hpp.

ALIGATOR_NOMALLOC_END

#define ALIGATOR_NOMALLOC_END   ALIGATOR_EIGEN_ALLOW_MALLOC(true)

Exiting performance-critical code.

Definition at line 51 of file math.hpp.