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

double eps = 1e-8¶

Minimum eigenvalue threshold

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.

Eigen Extensions¶

using ArrayXb = Eigen::Array<bool, Eigen::Dynamic, 1>;¶

An array of boolean scalars.

using VectorXb = Eigen::Matrix<bool, Eigen::Dynamic, 1>;¶

A Vector of boolean scalars.

using Vector3b = Eigen::Matrix<bool, 3, 1>;¶

A Vector of boolean scalars with a fixed size of 3x1.

using MatrixXb
    = Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic>;¶

A dynamic size matrix of boolean scalars.

template <typename T, int dim, int max_dim = dim>
using Vector
    = Eigen::Matrix<T, dim, 1, Eigen::ColMajor, max_dim, 1>;¶

A dynamic size vector with a fixed maximum size.

Template Parameters:¶

typename T¶

The type of the vector elements.

int dim¶

The size of the vector.

int max_dim = dim¶

The maximum size of the vector.

template <typename T, int dim, int max_dim = dim>
using RowVector
    = Eigen::Matrix<T, 1, dim, Eigen::RowMajor, 1, max_dim>;¶

A dynamic size row vector with a fixed maximum size.

Template Parameters:¶

typename T¶

The type of the vector elements.

int dim¶

The size of the vector.

int max_dim = dim¶

The maximum size of the vector.

using Vector1d = Eigen::Vector<double, 1>;¶

A static size matrix of size of 1×1.

using Vector6d = Eigen::Vector<double, 6>;¶

A static size matrix of size of 6×1.

using Vector9d = Eigen::Vector<double, 9>;¶

A static size matrix of size of 9×1.

using Vector12d = Eigen::Vector<double, 12>;¶

A static size matrix of size of 12×1.

using Matrix6d = Eigen::Matrix<double, 6, 6>;¶

A static size matrix of size of 6×6.

using Matrix9d = Eigen::Matrix<double, 9, 9>;¶

A static size matrix of size of 9×9.

using Matrix12d = Eigen::Matrix<double, 12, 12>;¶

A static size matrix of size of 12×12.

template <typename T>
using VectorMax2 = Vector<T, Eigen::Dynamic, 2>;¶

A dynamic size matrix with a fixed maximum size of 3×1.

template <typename T>
using VectorMax3 = Vector<T, Eigen::Dynamic, 3>;¶

A dynamic size matrix with a fixed maximum size of 3×1.

template <typename T>
using VectorMax4 = Vector<T, Eigen::Dynamic, 4>;¶

A dynamic size matrix with a fixed maximum size of 4×1.

template <typename T>
using VectorMax6 = Vector<T, Eigen::Dynamic, 6>;¶

A dynamic size matrix with a fixed maximum size of 6×1.

template <typename T>
using VectorMax9 = Vector<T, Eigen::Dynamic, 9>;¶

A dynamic size matrix with a fixed maximum size of 9×1.

template <typename T>
using VectorMax12 = Vector<T, Eigen::Dynamic, 12>;¶

A dynamic size matrix with a fixed maximum size of 12×1.

using VectorMax2d = VectorMax2<double>;¶

A dynamic size matrix with a fixed maximum size of 2×1.

using VectorMax3d = VectorMax3<double>;¶

A dynamic size matrix with a fixed maximum size of 3×1.

using VectorMax3i = VectorMax3<int>;¶

A dynamic size matrix with a fixed maximum size of 3×1.

using VectorMax4d = VectorMax4<double>;¶

A dynamic size matrix with a fixed maximum size of 4×1.

using VectorMax4i = VectorMax4<int>;¶

A dynamic size matrix with a fixed maximum size of 4×1.

using VectorMax6d = VectorMax6<double>;¶

A dynamic size matrix with a fixed maximum size of 6×1.

using VectorMax6b = VectorMax6<bool>;¶

A dynamic size matrix with a fixed maximum size of 6×1.

using VectorMax9d = VectorMax9<double>;¶

A dynamic size matrix with a fixed maximum size of 9×1.

using VectorMax12d = VectorMax12<double>;¶

A dynamic size matrix with a fixed maximum size of 12×1.

template <typename T>
using RowVectorMax2 = RowVector<T, Eigen::Dynamic, 2>;¶

A dynamic size matrix with a fixed maximum size of 1×2.

template <typename T>
using RowVectorMax3 = RowVector<T, Eigen::Dynamic, 3>;¶

A dynamic size matrix with a fixed maximum size of 1×3.

using RowVectorMax2d = RowVectorMax2<double>;¶

A dynamic size matrix with a fixed maximum size of 1×2.

using RowVectorMax3d = RowVectorMax3<double>;¶

A dynamic size matrix with a fixed maximum size of 1×3.

using RowVectorMax6d = RowVector<double, Eigen::Dynamic, 6>;¶

A dynamic size matrix with a fixed maximum size of 6×1.

using RowVectorMax9d = RowVector<double, Eigen::Dynamic, 9>;¶

A dynamic size matrix with a fixed maximum size of 9×1.

using RowVectorMax12d = RowVector<double, Eigen::Dynamic, 12>;¶

A dynamic size matrix with a fixed maximum size of 12×1.

template <typename T, int max_rows, int max_cols>
using MatrixMax = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic,
    Eigen::ColMajor, max_rows, max_cols>;¶

template <typename T> using MatrixMax2 = MatrixMax<T, 2, 2>;¶

A dynamic size matrix with a fixed maximum size of 3×3.

template <typename T> using MatrixMax3 = MatrixMax<T, 3, 3>;¶

A dynamic size matrix with a fixed maximum size of 3×3.

template <typename T> using MatrixMax6 = MatrixMax<T, 6, 6>;¶

A dynamic size matrix with a fixed maximum size of 6×6.

template <typename T> using MatrixMax9 = MatrixMax<T, 9, 9>;¶

A dynamic size matrix with a fixed maximum size of 9×9.

template <typename T> using MatrixMax12 = MatrixMax<T, 12, 12>;¶

A dynamic size matrix with a fixed maximum size of 12×12.

using MatrixMax2d = MatrixMax2<double>;¶

A dynamic size matrix with a fixed maximum size of 3×3.

using MatrixMax3d = MatrixMax3<double>;¶

A dynamic size matrix with a fixed maximum size of 3×3.

using MatrixMax6d = MatrixMax6<double>;¶

A dynamic size matrix with a fixed maximum size of 6×6.

using MatrixMax9d = MatrixMax9<double>;¶

A dynamic size matrix with a fixed maximum size of 12×12.

using MatrixMax12d = MatrixMax12<double>;¶

A dynamic size matrix with a fixed maximum size of 12×12.

using DiagonalMatrixXd
    = Eigen::DiagonalMatrix<double, Eigen::Dynamic>;¶

A dynamic size diagonal matrix.

using DiagonalMatrixMax6d
    = Eigen::DiagonalMatrix<double, Eigen::Dynamic, 6>;¶

A dynamic size diagonal matrix with a fixed maximum size of 6×6.

template <typename T>
using ArrayMax2
    = Eigen::Array<T, Eigen::Dynamic, 1, Eigen::ColMajor, 2, 1>;¶

A dynamic size array with a fixed maximum size of 2×1.

template <typename T>
using ArrayMax3
    = Eigen::Array<T, Eigen::Dynamic, 1, Eigen::ColMajor, 3, 1>;¶

A dynamic size array with a fixed maximum size of 2×1.

template <typename T>
using ArrayMax4
    = Eigen::Array<T, Eigen::Dynamic, 1, Eigen::ColMajor, 4, 1>;¶

A dynamic size array with a fixed maximum size of 4×1.

using ArrayMax2d = ArrayMax2<double>;¶

A dynamic size array with a fixed maximum size of 2×1.

using ArrayMax3d = ArrayMax3<double>;¶

A dynamic size array with a fixed maximum size of 3×1.

using ArrayMax3i = ArrayMax3<int>;¶

A dynamic size array with a fixed maximum size of 3×1.

using ArrayMax4d = ArrayMax4<double>;¶

A dynamic size array with a fixed maximum size of 4×1.

using ArrayMax4i = ArrayMax4<int>;
¶

A dynamic size array with a fixed maximum size of 4×1.