Utils¶

Logger¶

spdlog::logger& ipc::logger();¶

Retrieves the current logger.

Returns:¶

A const reference to the logger object.

void ipc::set_logger(std::shared_ptr<spdlog::logger> logger);¶

Setup a logger object.

Calling this function with other function is not thread-safe.

Parameters:¶

std::shared_ptr<spdlog::logger> logger¶

New logger object to be used.

Positive Semi-Definite Projection¶

template <typename _Scalar, int _Rows, int _Cols, int _Options,
    int _MaxRows, int _MaxCols>
Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
ipc::project_to_psd(const Eigen::Matrix<_Scalar, _Rows, _Cols,
                        _Options, _MaxRows, _MaxCols>& A,
    const PSDProjectionMethod method = PSDProjectionMethod::CLAMP);¶

Matrix projection onto positive semi-definite cone.

Parameters:¶

const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> &A¶

Symmetric matrix to project

const PSDProjectionMethod method = PSDProjectionMethod::CLAMP¶

PSD projection method

Returns:¶

Projected matrix

template <typename _Scalar, int _Rows, int _Cols, int _Options,
    int _MaxRows, int _MaxCols>
Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
ipc::project_to_pd(const Eigen::Matrix<_Scalar, _Rows, _Cols,
                       _Options, _MaxRows, _MaxCols>& A,
    double eps = 1e-8);¶

Matrix projection onto positive definite cone.

Parameters:¶

const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> &A¶

Symmetric matrix to project

Returns:¶

Projected matrix

enum class ipc::PSDProjectionMethod;¶

Enumeration of implemented PSD projection methods.

Values:

enumerator NONE;¶

No PSD projection.

enumerator CLAMP;¶

Clamp negative eigenvalues to zero.

enumerator ABS;¶

Flip negative eigenvalues to positive.