Struct oxygengine_physics_2d::prelude::nalgebra::UDU
source · pub struct UDU<T, D>where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,{
pub u: Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>,
pub d: Matrix<T, D, Const<1>, <DefaultAllocator as Allocator<T, D, Const<1>>>::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>, <DefaultAllocator as Allocator<T, D, Const<1>>>::Buffer>
The diagonal matrix resulting from the factorization
Implementations§
source§impl<T, D> UDU<T, D>where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
impl<T, D> UDU<T, D>where T: RealField, D: Dim, DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
sourcepub fn new(
p: Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>
) -> Option<UDU<T, D>>
pub fn new( p: Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer> ) -> Option<UDU<T, D>>
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§
source§impl<T, D> Clone for UDU<T, D>where
T: Clone + RealField,
D: Clone + Dim,
DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
impl<T, D> Clone for UDU<T, D>where T: Clone + RealField, D: Clone + Dim, DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
source§impl<T, D> Debug for UDU<T, D>where
T: Debug + RealField,
D: Debug + Dim,
DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
impl<T, D> Debug for UDU<T, D>where T: Debug + RealField, D: Debug + Dim, DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
source§impl<'de, T, D> Deserialize<'de> for UDU<T, D>where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
Matrix<T, D, Const<1>, <DefaultAllocator as Allocator<T, D, Const<1>>>::Buffer>: Deserialize<'de>,
Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>: Deserialize<'de>,
impl<'de, T, D> Deserialize<'de> for UDU<T, D>where T: RealField, D: Dim, DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>, Matrix<T, D, Const<1>, <DefaultAllocator as Allocator<T, D, Const<1>>>::Buffer>: Deserialize<'de>, Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>: Deserialize<'de>,
source§fn deserialize<__D>(
__deserializer: __D
) -> Result<UDU<T, D>, <__D as Deserializer<'de>>::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>( __deserializer: __D ) -> Result<UDU<T, D>, <__D as Deserializer<'de>>::Error>where __D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
source§impl<T, D> Serialize for UDU<T, D>where
T: RealField,
D: Dim,
DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>,
Matrix<T, D, Const<1>, <DefaultAllocator as Allocator<T, D, Const<1>>>::Buffer>: Serialize,
Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>: Serialize,
impl<T, D> Serialize for UDU<T, D>where T: RealField, D: Dim, DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>, Matrix<T, D, Const<1>, <DefaultAllocator as Allocator<T, D, Const<1>>>::Buffer>: Serialize, Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>: Serialize,
source§fn serialize<__S>(
&self,
__serializer: __S
) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>where
__S: Serializer,
fn serialize<__S>( &self, __serializer: __S ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>where __S: Serializer,
Serialize this value into the given Serde serializer. Read more
impl<T, D> Copy for UDU<T, D>where T: RealField, D: Dim, DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, D>, Matrix<T, D, Const<1>, <DefaultAllocator as Allocator<T, D, Const<1>>>::Buffer>: Copy, Matrix<T, D, D, <DefaultAllocator as Allocator<T, D, D>>::Buffer>: Copy,
Auto Trait Implementations§
impl<T, D> !RefUnwindSafe for UDU<T, D>
impl<T, D> !Send for UDU<T, D>
impl<T, D> !Sync for UDU<T, D>
impl<T, D> !Unpin for UDU<T, D>
impl<T, D> !UnwindSafe for UDU<T, D>
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere T: Any,
§fn into_any(self: Box<T, Global>) -> Box<dyn Any, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any, Global>
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
.§fn into_any_rc(self: Rc<T, Global>) -> Rc<dyn Any, Global>
fn into_any_rc(self: Rc<T, Global>) -> Rc<dyn Any, Global>
Convert
Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
.§fn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s.§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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.§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self
from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self
is actually part of its subset T
(and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset
but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
to the equivalent element of its superset.