Struct heron::rapier_plugin::rapier::utils::SdpMatrix2

pub struct SdpMatrix2<N> {
    pub m11: N,
    pub m12: N,
    pub m22: N,
}

A 2x2 symmetric-definite-positive matrix.

Fields

m11: N

The component at the first row and first column of this matrix.

m12: N

The component at the first row and second column of this matrix.

m22: N

The component at the second row and second column of this matrix.

Implementations

impl<N> SdpMatrix2<N> where
    N: SimdRealField, 

pub fn new(m11: N, m12: N, m22: N) -> SdpMatrix2<N>

A new SDP 2x2 matrix with the given components.

Because the matrix is symmetric, only the lower off-diagonal component is required.

pub fn from_sdp_matrix(
    mat: Matrix<N, U2, U2, <DefaultAllocator as Allocator<N, U2, U2>>::Buffer>
) -> SdpMatrix2<N>

Build an SdpMatrix2 structure from a plain matrix, assuming it is SDP.

No check is performed to ensure mat is actually SDP.

pub fn zero() -> SdpMatrix2<N>

Create a new SDP matrix filled with zeros.

pub fn diagonal(val: N) -> SdpMatrix2<N>

Create a new SDP matrix with its diagonal filled with val, and its off-diagonal elements set to zero.

pub fn add_diagonal(&mut self, elt: N) -> SdpMatrix2<N>

Adds val to the diagonal components of self.

pub fn inverse_unchecked(&self) -> SdpMatrix2<N>

Compute the inverse of this SDP matrix without performing any inversibility check.

pub fn into_matrix(
    self
) -> Matrix<N, U2, U2, <DefaultAllocator as Allocator<N, U2, U2>>::Buffer>

Convert this SDP matrix to a regular matrix representation.

Trait Implementations

impl<N> Add<SdpMatrix2<N>> for SdpMatrix2<N> where
    N: SimdRealField, 

type Output = SdpMatrix2<N>

The resulting type after applying the + operator.

pub fn add(self, rhs: SdpMatrix2<N>) -> SdpMatrix2<N>

Performs the + operation.

impl<N> Clone for SdpMatrix2<N> where
    N: Clone, 

pub fn clone(&self) -> SdpMatrix2<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> Copy for SdpMatrix2<N> where
    N: Copy, 

impl<N> Debug for SdpMatrix2<N> where
    N: Debug, 

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

Formats the value using the given formatter.

impl<N> Mul<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>> for SdpMatrix2<N> where
    N: SimdRealField, 

type Output = Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>

The resulting type after applying the * operator.

pub fn mul(
    self,
    rhs: Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>
) -> <SdpMatrix2<N> as Mul<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>>::Output

Performs the * operation.

impl<N> PartialEq<SdpMatrix2<N>> for SdpMatrix2<N> where
    N: PartialEq<N>, 

pub fn eq(&self, other: &SdpMatrix2<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

pub fn ne(&self, other: &SdpMatrix2<N>) -> bool

This method tests for !=.

impl<N> StructuralPartialEq for SdpMatrix2<N>