Struct bevy_rapier3d::prelude::nalgebra::ColPivQR

pub struct ColPivQR<T, R, C> where
    C: Dim,
    T: ComplexField,
    R: DimMin<C>,
    DefaultAllocator: Allocator<T, R, C>,
    DefaultAllocator: Allocator<T, <R as DimMin<C>>::Output, Const<1_usize>>,
    DefaultAllocator: Allocator<(usize, usize), <R as DimMin<C>>::Output, Const<1_usize>>,  { /* fields omitted */ }

The QR decomposition (with column pivoting) of a general matrix.

Implementations

impl<T, R, C> ColPivQR<T, R, C> where
    C: Dim,
    T: ComplexField,
    R: DimMin<C>,
    DefaultAllocator: Allocator<T, R, C>,
    DefaultAllocator: Allocator<T, R, Const<1_usize>>,
    DefaultAllocator: Allocator<T, <R as DimMin<C>>::Output, Const<1_usize>>,
    DefaultAllocator: Allocator<(usize, usize), <R as DimMin<C>>::Output, Const<1_usize>>, 

pub fn new(
    matrix: Matrix<T, R, C, <DefaultAllocator as Allocator<T, R, C>>::Buffer>
) -> ColPivQR<T, R, C>

Computes the ColPivQR decomposition using householder reflections.

pub fn r(
    &self
) -> Matrix<T, <R as DimMin<C>>::Output, C, <DefaultAllocator as Allocator<T, <R as DimMin<C>>::Output, C>>::Buffer> where
    DefaultAllocator: Allocator<T, <R as DimMin<C>>::Output, C>, 

Retrieves the upper trapezoidal submatrix R of this decomposition.

pub fn unpack_r(
    self
) -> Matrix<T, <R as DimMin<C>>::Output, C, <DefaultAllocator as Allocator<T, <R as DimMin<C>>::Output, C>>::Buffer> where
    DefaultAllocator: Reallocator<T, R, C, <R as DimMin<C>>::Output, C>, 

Retrieves the upper trapezoidal submatrix R of this decomposition.

This is usually faster than r but consumes self.

pub fn q(
    &self
) -> Matrix<T, R, <R as DimMin<C>>::Output, <DefaultAllocator as Allocator<T, R, <R as DimMin<C>>::Output>>::Buffer> where
    DefaultAllocator: Allocator<T, R, <R as DimMin<C>>::Output>, 

Computes the orthogonal matrix Q of this decomposition.

pub fn p(&self) -> &PermutationSequence<<R as DimMin<C>>::Output>

Retrieves the column permutation of this decomposition.

pub fn unpack(
    self
) -> (Matrix<T, R, <R as DimMin<C>>::Output, <DefaultAllocator as Allocator<T, R, <R as DimMin<C>>::Output>>::Buffer>, Matrix<T, <R as DimMin<C>>::Output, C, <DefaultAllocator as Allocator<T, <R as DimMin<C>>::Output, C>>::Buffer>, PermutationSequence<<R as DimMin<C>>::Output>) where
    <R as DimMin<C>>::Output: DimMin<C>,
    DefaultAllocator: Allocator<T, R, <R as DimMin<C>>::Output>,
    DefaultAllocator: Reallocator<T, R, C, <R as DimMin<C>>::Output, C>,
    DefaultAllocator: Allocator<(usize, usize), <R as DimMin<C>>::Output, Const<1_usize>>,
    <<R as DimMin<C>>::Output as DimMin<C>>::Output == <R as DimMin<C>>::Output, 

Unpacks this decomposition into its two matrix factors.

pub fn q_tr_mul<R2, C2, S2>(&self, rhs: &mut Matrix<T, R2, C2, S2>) where
    C2: Dim,
    S2: StorageMut<T, R2, C2>,
    R2: Dim, 

Multiplies the provided matrix by the transpose of the Q matrix of this decomposition.

impl<T, D> ColPivQR<T, D, D> where
    T: ComplexField,
    D: DimMin<D, Output = D>,
    DefaultAllocator: Allocator<T, D, D>,
    DefaultAllocator: Allocator<T, D, Const<1_usize>>,
    DefaultAllocator: Allocator<(usize, usize), <D as DimMin<D>>::Output, Const<1_usize>>, 

pub fn solve<R2, C2, S2>(
    &self,
    b: &Matrix<T, R2, C2, S2>
) -> Option<Matrix<T, R2, C2, <DefaultAllocator as Allocator<T, R2, C2>>::Buffer>> where
    C2: Dim,
    S2: StorageMut<T, R2, C2>,
    R2: Dim,
    ShapeConstraint: SameNumberOfRows<R2, D>,
    DefaultAllocator: Allocator<T, R2, C2>, 

Solves the linear system self * x = b, where x is the unknown to be determined.

Returns None if self is not invertible.

pub fn solve_mut<R2, C2, S2>(&self, b: &mut Matrix<T, R2, C2, S2>) -> bool where
    C2: Dim,
    S2: StorageMut<T, R2, C2>,
    R2: Dim,
    ShapeConstraint: SameNumberOfRows<R2, D>, 

Solves the linear system self * x = b, where x is the unknown to be determined.

If the decomposed matrix is not invertible, this returns false and its input b is overwritten with garbage.

pub fn try_inverse(
    &self
) -> Option<Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>>

Computes the inverse of the decomposed matrix.

Returns None if the decomposed matrix is not invertible.

pub fn is_invertible(&self) -> bool

Indicates if the decomposed matrix is invertible.

pub fn determinant(&self) -> T

Computes the determinant of the decomposed matrix.

Trait Implementations

impl<T, R, C> Clone for ColPivQR<T, R, C> where
    C: Clone + Dim,
    T: Clone + ComplexField,
    R: Clone + DimMin<C>,
    DefaultAllocator: Allocator<T, R, C>,
    DefaultAllocator: Allocator<T, <R as DimMin<C>>::Output, Const<1_usize>>,
    DefaultAllocator: Allocator<(usize, usize), <R as DimMin<C>>::Output, Const<1_usize>>, 

pub fn clone(&self) -> ColPivQR<T, R, C>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T, R, C> Debug for ColPivQR<T, R, C> where
    C: Debug + Dim,
    T: Debug + ComplexField,
    R: Debug + DimMin<C>,
    DefaultAllocator: Allocator<T, R, C>,
    DefaultAllocator: Allocator<T, <R as DimMin<C>>::Output, Const<1_usize>>,
    DefaultAllocator: Allocator<(usize, usize), <R as DimMin<C>>::Output, Const<1_usize>>, 

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl<T, R, C> Copy for ColPivQR<T, R, C> where
    C: Dim,
    T: ComplexField,
    R: DimMin<C>,
    DefaultAllocator: Allocator<T, R, C>,
    DefaultAllocator: Allocator<T, <R as DimMin<C>>::Output, Const<1_usize>>,
    DefaultAllocator: Allocator<(usize, usize), <R as DimMin<C>>::Output, Const<1_usize>>,
    Matrix<T, R, C, <DefaultAllocator as Allocator<T, R, C>>::Buffer>: Copy,
    PermutationSequence<<R as DimMin<C>>::Output>: Copy,
    Matrix<T, <R as DimMin<C>>::Output, Const<1_usize>, <DefaultAllocator as Allocator<T, <R as DimMin<C>>::Output, Const<1_usize>>>::Buffer>: Copy,