Struct rust_pathtracer::prelude::UDU

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>,
}

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

impl<T, D> UDU<T, D>where T: RealField, D: Dim, DefaultAllocator: Allocator<T, D, Const<1>> + Allocator<T, D, 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

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

Returns the diagonal elements as a matrix

Trait Implementations

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>,

fn clone(&self) -> UDU<T, D>

Returns a copy of the value.

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

Performs copy-assignment from 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>,

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

Formats the value using the given formatter.

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,