Struct bevy_rapier2d::prelude::nalgebra::linalg::UDU [−][src]
pub struct UDU<T, D> where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1_usize>>,
DefaultAllocator: Allocator<T, D, D>, { pub u: Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>, pub d: Matrix<T, D, Const<1_usize>, <DefaultAllocator as Allocator<T, D, Const<1_usize>>>::Buffer>, }
Expand description
UDU factorization.
Fields
u: Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>
The upper triangular matrix resulting from the factorization
d: Matrix<T, D, Const<1_usize>, <DefaultAllocator as Allocator<T, D, Const<1_usize>>>::Buffer>
The diagonal matrix resulting from the factorization
Implementations
impl<T, D> UDU<T, D> where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1_usize>>,
DefaultAllocator: Allocator<T, D, D>,
[src]
impl<T, D> UDU<T, D> where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1_usize>>,
DefaultAllocator: Allocator<T, D, D>,
[src]Computes the UDU^T factorization.
The input matrix p
is assumed to be symmetric and this decomposition will only read
the upper-triangular part of p
.
Ref.: “Optimal control and estimation-Dover Publications”, Robert F. Stengel, (1994) page 360
Trait Implementations
impl<T, D> Copy for UDU<T, D> where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1_usize>>,
DefaultAllocator: Allocator<T, D, D>,
Matrix<T, D, Const<1_usize>, <DefaultAllocator as Allocator<T, D, Const<1_usize>>>::Buffer>: Copy,
Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>: Copy,
[src]Auto Trait Implementations
impl<T, D> !RefUnwindSafe for UDU<T, D>
impl<T, D> !UnwindSafe for UDU<T, D>
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
Instruments this type with the provided Span
, returning an
Instrumented
wrapper. Read more
type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V