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Drake
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Drake
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Structure used to convert a mixed linear complementarity problem to a pure linear complementarity problem (by solving for free variables).
#include <drake/multibody/constraint/constraint_solver.h>
Public Attributes | |
| Eigen::CompleteOrthogonalDecomposition< MatrixX< T > > | delassus_QTZ |
| Decomposition of the Delassus matrix GM⁻¹Gᵀ, where G is the bilateral constraint matrix and M is the system generalized inertia matrix. More... | |
| std::function< MatrixX< T >const MatrixX< T > &)> | A_solve |
| A function pointer for solving linear systems using MLCP "A" matrix (see Velocity-level-MLCPs). More... | |
| std::function< MatrixX< T >const MatrixX< T > &)> | fast_A_solve |
| A function pointer for solving linear systems using only the upper left block of A⁺ in the MLCP (see Velocity-level-MLCPs), where A⁺ is a singularity-robust pseudo-inverse of A, toward exploiting operations with zero blocks. More... | |
A function pointer for solving linear systems using MLCP "A" matrix (see Velocity-level-MLCPs).
| Eigen::CompleteOrthogonalDecomposition<MatrixX<T> > delassus_QTZ |
Decomposition of the Delassus matrix GM⁻¹Gᵀ, where G is the bilateral constraint matrix and M is the system generalized inertia matrix.
A function pointer for solving linear systems using only the upper left block of A⁺ in the MLCP (see Velocity-level-MLCPs), where A⁺ is a singularity-robust pseudo-inverse of A, toward exploiting operations with zero blocks.
For example:
A⁺ | b | | 0 |
and
A⁺ | B | | 0 |
where b ∈ ℝⁿᵛ is an arbitrary vector of dimension equal to the generalized velocities and B ∈ ℝⁿᵛˣᵐ is an arbitrary matrix with row dimension equal to the dimension of the generalized velocities and arbitrary number of columns (denoted m here).