public YoPolynomial(YoDouble[] coefficients, YoInteger numberOfCoefficients) { a = coefficients; this.numberOfCoefficients = numberOfCoefficients; this.maximumNumberOfCoefficients = coefficients.length; solver = LinearSolverFactory.general(maximumNumberOfCoefficients, maximumNumberOfCoefficients); constraintMatrix = new DenseMatrix64F(maximumNumberOfCoefficients, maximumNumberOfCoefficients); constraintVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); coefficientVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); xPowers = new double[maximumNumberOfCoefficients]; xPowersDerivativeVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); }
public static void main(String[] arg) { BlockDiagSquareMatrix m = new BlockDiagSquareMatrix(1, 2); DenseMatrix64F b1 = new DenseMatrix64F(1, 1, true, 1); DenseMatrix64F b2 = new DenseMatrix64F(2, 2, true, 2, 3, 4, 5); m.setBlock(b1, 0); m.setBlock(b2, 1); System.out.println(m); m.packInverse(LinearSolverFactory.general(m.numRows, m.numCols), m); b1.zero(); b2.zero(); m.packBlock(b1, 0, 0,0); m.packBlock(b2, 1, 0,0); System.out.println(b1); System.out.println(b2); System.out.println("m=\n"+m); }
LinearSolver<DenseMatrix64F> solver = LinearSolverFactory.general(a.numRows,a.numCols);
public static void main(String[] arg) { BlockDiagSquareMatrix m = new BlockDiagSquareMatrix(1, 2); DenseMatrix64F b1 = new DenseMatrix64F(1, 1, true, 1); DenseMatrix64F b2 = new DenseMatrix64F(2, 2, true, 2, 3, 4, 5); m.setBlock(b1, 0); m.setBlock(b2, 1); System.out.println(m); m.packInverse(LinearSolverFactory.general(m.numRows, m.numCols), m); b1.zero(); b2.zero(); m.packBlock(b1, 0, 0,0); m.packBlock(b2, 1, 0,0); System.out.println(b1); System.out.println(b2); System.out.println("m=\n"+m); }
LinearSolver<DenseMatrix64F> solver = LinearSolverFactory.general(a.numRows,a.numCols);
LinearSolver<DenseMatrix64F> solver = LinearSolverFactory.general(a.numRows,a.numCols);
public Trajectory(int maxNumberOfCoefficients) { this.maximumNumberOfCoefficients = maxNumberOfCoefficients; this.coefficients = new double[maxNumberOfCoefficients]; this.coefficientsCopy = new double[maxNumberOfCoefficients]; this.constraintMatrix = new DenseMatrix64F(maxNumberOfCoefficients, maxNumberOfCoefficients); this.constraintVector = new DenseMatrix64F(maxNumberOfCoefficients, 1); this.coefficientVector = new DenseMatrix64F(maxNumberOfCoefficients, 1); this.xPowersDerivativeVector = new DenseMatrix64F(1, maxNumberOfCoefficients); this.solver = LinearSolverFactory.general(maxNumberOfCoefficients, maxNumberOfCoefficients); this.xPowers = new double[maxNumberOfCoefficients]; reset(); }
public YoPolynomial(String name, int maximumNumberOfCoefficients, YoVariableRegistry registry) { this.maximumNumberOfCoefficients = maximumNumberOfCoefficients; solver = LinearSolverFactory.general(maximumNumberOfCoefficients, maximumNumberOfCoefficients); a = new DoubleYoVariable[maximumNumberOfCoefficients]; constraintMatrix = new DenseMatrix64F(maximumNumberOfCoefficients, maximumNumberOfCoefficients); constraintVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); coefficientVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); xPowers = new double[maximumNumberOfCoefficients]; numberOfCoefficients = new IntegerYoVariable(name + "_nCoeffs", registry); for (int i = 0; i < maximumNumberOfCoefficients; i++) { a[i] = new DoubleYoVariable(name + "_a" + i, registry); } }
public YoPolynomial(String name, int maximumNumberOfCoefficients, YoVariableRegistry registry) { this.maximumNumberOfCoefficients = maximumNumberOfCoefficients; solver = LinearSolverFactory.general(maximumNumberOfCoefficients, maximumNumberOfCoefficients); a = new YoDouble[maximumNumberOfCoefficients]; constraintMatrix = new DenseMatrix64F(maximumNumberOfCoefficients, maximumNumberOfCoefficients); constraintVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); coefficientVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); xPowers = new double[maximumNumberOfCoefficients]; xPowersDerivativeVector = new DenseMatrix64F(maximumNumberOfCoefficients, 1); numberOfCoefficients = new YoInteger(name + "_nCoeffs", registry); for (int i = 0; i < maximumNumberOfCoefficients; i++) { a[i] = new YoDouble(name + "_a" + i, registry); } }