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https://github.com/bulletphysics/bullet3
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ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
74 lines
2.4 KiB
Plaintext
74 lines
2.4 KiB
Plaintext
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_ORDERINGMETHODS_MODULE_H
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#define EIGEN_ORDERINGMETHODS_MODULE_H
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#include "SparseCore"
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#include "src/Core/util/DisableStupidWarnings.h"
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/**
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* \defgroup OrderingMethods_Module OrderingMethods module
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*
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* This module is currently for internal use only
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*
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* It defines various built-in and external ordering methods for sparse matrices.
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* They are typically used to reduce the number of elements during
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* the sparse matrix decomposition (LLT, LU, QR).
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* Precisely, in a preprocessing step, a permutation matrix P is computed using
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* those ordering methods and applied to the columns of the matrix.
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* Using for instance the sparse Cholesky decomposition, it is expected that
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* the nonzeros elements in LLT(A*P) will be much smaller than that in LLT(A).
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*
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*
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* Usage :
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* \code
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* #include <Eigen/OrderingMethods>
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* \endcode
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*
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* A simple usage is as a template parameter in the sparse decomposition classes :
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*
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* \code
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* SparseLU<MatrixType, COLAMDOrdering<int> > solver;
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* \endcode
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*
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* \code
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* SparseQR<MatrixType, COLAMDOrdering<int> > solver;
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* \endcode
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*
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* It is possible as well to call directly a particular ordering method for your own purpose,
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* \code
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* AMDOrdering<int> ordering;
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* PermutationMatrix<Dynamic, Dynamic, int> perm;
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* SparseMatrix<double> A;
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* //Fill the matrix ...
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*
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* ordering(A, perm); // Call AMD
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* \endcode
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*
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* \note Some of these methods (like AMD or METIS), need the sparsity pattern
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* of the input matrix to be symmetric. When the matrix is structurally unsymmetric,
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* Eigen computes internally the pattern of \f$A^T*A\f$ before calling the method.
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* If your matrix is already symmetric (at leat in structure), you can avoid that
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* by calling the method with a SelfAdjointView type.
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*
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* \code
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* // Call the ordering on the pattern of the lower triangular matrix A
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* ordering(A.selfadjointView<Lower>(), perm);
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* \endcode
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*/
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#ifndef EIGEN_MPL2_ONLY
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#include "src/OrderingMethods/Amd.h"
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#endif
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#include "src/OrderingMethods/Ordering.h"
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#include "src/Core/util/ReenableStupidWarnings.h"
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#endif // EIGEN_ORDERINGMETHODS_MODULE_H
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