Exotica
math_operations.h
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29 
30 #ifndef EXOTICA_AICO_SOLVER_MATH_OPERATIONS_H_
31 #define EXOTICA_AICO_SOLVER_MATH_OPERATIONS_H_
32 
33 #include <Eigen/Cholesky>
34 #include <Eigen/Dense>
35 
36 namespace exotica
37 {
41 template <typename T1, typename T2>
42 static inline void inverseSymPosDef(T1& Ainv, const T2& A)
43 {
44  Ainv = A.llt().solve(Eigen::MatrixXd::Identity(A.rows(), A.cols()));
45 }
46 
48 template <typename T1, typename T2, typename T3>
49 static inline void AinvBSymPosDef(T1& x, const T2& A, const T3& b)
50 {
51  x = A.llt().solve(b);
52 }
53 } // namespace exotica
54 
55 #endif // EXOTICA_AICO_SOLVER_MATH_OPERATIONS_H_
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::inverseSymPosDef
static void inverseSymPosDef(T1 &Ainv, const T2 &A)
Computes an inverse of a symmetric positive definite matrix.
Definition: math_operations.h:42
exotica::AinvBSymPosDef
static void AinvBSymPosDef(T1 &x, const T2 &A, const T3 &b)
Computes the solution to the linear problem for symmetric positive definite matrix A.
Definition: math_operations.h:49