raisim::SparseJacobian1D

class · #include <raisim/math.hpp>

Single-row counterpart of SparseJacobian: v holds the non-zero entries as a 1 x size row and entry i is column idx[i] of the full 1 x dof Jacobian.

Constructors & destructor

SparseJacobian1D

SparseJacobian1D() = default

~SparseJacobian1D

~SparseJacobian1D() = default

Public member functions

resize

void resize(size_t cols)

Sets the number of stored entries, reallocating only when it exceeds the capacity, and zeroes the first cols values.

Parameters

Parameter	Description
cols (in)	number of stored entries

operator[]

double operator[](size_t i) const

Parameters

Parameter	Description
i (in)	entry index

Returns stored value i.

double &operator[](size_t i)

Parameters

Parameter	Description
i (in)	entry index

Returns reference to stored value i.

operator*=

void operator*=(double val)

Multiplies all stored values by val.

Parameters

Parameter	Description
val (in)	scale factor

ptr

double *ptr()

Returns pointer to the first stored value.

const double *ptr() const

Returns pointer to the first stored value.

data

double *data()

Returns pointer to the first stored value (Eigen-compatible name).

const double *data() const

Returns pointer to the first stored value (Eigen-compatible name).

e

Eigen::Map<Eigen::Matrix<double, -1, -1>> e()

Returns Eigen map of the 1 x size value row.

const Eigen::Map<const Eigen::Matrix<double, -1, -1>> e() const

Returns read-only Eigen map of the 1 x size value row.

operator=

SparseJacobian1D &operator=(const SparseJacobian1D &rhs)

Deep copy of the size, capacity, values and indices.

Parameters

Parameter	Description
rhs (in)	Jacobian to copy

Returns *this

Public attributes

size

size_t size

Number of stored (non-zero) entries.

capacity

size_t capacity

Number of allocated entries.

v

MatDyn v

Value storage, 1 x capacity; only the first size entries are meaningful.

idx

std::vector<size_t> idx

idx[i] is the full-Jacobian column (generalized-velocity index) of stored entry i.