private void computeJacobianTransposed(DenseMatrix64F jacobianTransposedToPack, DenseMatrix64F jacobian) { jacobianTransposedToPack.reshape(numberOfDoF, numberOfConstraints); CommonOps.transpose(jacobian, jacobianTransposedToPack); }
private void computeJacobianTransposed(DenseMatrix64F jacobianTransposedToPack, DenseMatrix64F jacobian) { jacobianTransposedToPack.reshape(numberOfDoF, numberOfConstraints); CommonOps.transpose(jacobian, jacobianTransposedToPack); }
@Override public void process() { VariableMatrix mA = (VariableMatrix)A; output.matrix.reshape(mA.matrix.numCols, mA.matrix.numRows); CommonOps.transpose(mA.matrix, output.matrix); } };
private DenseMatrix64F getTranspose(DenseMatrix64F dataMatrix) { DenseMatrix64F dataMatrixTranspose = dataMatrix.copy(); transpose(dataMatrixTranspose); return dataMatrixTranspose; }
public void setLinearEqualityConstraints(DenseMatrix64F linearEqualityConstraintsAMatrix, DenseMatrix64F linearEqualityConstraintsBVector) { setAndAssertCorrectNumberOfVariablesToSolve(linearEqualityConstraintsAMatrix.numCols); linearEqualityConstraintB = linearEqualityConstraintsBVector; linearEqualityConstraintA = linearEqualityConstraintsAMatrix; linearEqualityConstraintATranspose=CommonOps.transpose(linearEqualityConstraintA, null); }
public void setLinearEqualityConstraints(DenseMatrix64F linearEqualityConstraintsAMatrix, DenseMatrix64F linearEqualityConstraintsBVector) { setAndAssertCorrectNumberOfVariablesToSolve(linearEqualityConstraintsAMatrix.numCols); linearEqualityConstraintB = linearEqualityConstraintsBVector; linearEqualityConstraintA = linearEqualityConstraintsAMatrix; linearEqualityConstraintATranspose=CommonOps.transpose(linearEqualityConstraintA, null); }
private void computeJacobiansFromJointAngles(double q_x, double q_y) { computeSymmetricLinkageJacobianInverseTransposeFromJointAngles(Jit, q_x, q_y); CommonOps.invert(Jit,Jt); CommonOps.transpose(Jt, J); }
public Matrix transpose() { DenseMatrix64F ret = new DenseMatrix64F(matrix.numCols, matrix.numRows); CommonOps.transpose(matrix, ret); return new EJMLDenseDoubleMatrix2D(ret); }
@Override public int solve(DenseMatrix64F Q, DenseMatrix64F f, DenseMatrix64F Aeq, DenseMatrix64F beq, DenseMatrix64F Ain, DenseMatrix64F bin, DenseMatrix64F lb, DenseMatrix64F ub, DenseMatrix64F x, boolean initialize) throws NoConvergenceException { allocateTempraryMatrixOnDemand(Q.numCols, Aeq.numRows, Ain.numRows); CommonOps.transpose(Aeq, this.negAeq); CommonOps.scale(-1, this.negAeq); CommonOps.transpose(Ain, this.negAin); CommonOps.scale(-1, this.negAin); return qpWrapper.solve(Q, f, negAeq, beq, negAin, bin, x, initialize); }
@Override public int solve(DenseMatrix64F Q, DenseMatrix64F f, DenseMatrix64F Aeq, DenseMatrix64F beq, DenseMatrix64F Ain, DenseMatrix64F bin, DenseMatrix64F lb, DenseMatrix64F ub, DenseMatrix64F x, boolean initialize) throws NoConvergenceException { allocateTempraryMatrixOnDemand(Q.numCols, Aeq.numRows, Ain.numRows); CommonOps.transpose(Aeq, this.negAeq); CommonOps.scale(-1, this.negAeq); CommonOps.transpose(Ain, this.negAin); CommonOps.scale(-1, this.negAin); return qpWrapper.solve(Q, f, negAeq, beq, negAin, bin, x, initialize); }
private void computeJacobiansFromMotorAngles(double motorAngleRight, double motorAngleLeft) { computeSymmetricLinkageJacobianInverseTransposeFromMotorAngles(Jit, motorAngleRight, motorAngleLeft); CommonOps.invert(Jit,Jt); CommonOps.transpose(Jt, J); }
private boolean bidiagonalization(DenseMatrix64F orig) { // change the matrix to bidiagonal form if( transposed ) { A_mod.reshape(orig.numCols,orig.numRows,false); CommonOps.transpose(orig,A_mod); } else { A_mod.reshape(orig.numRows,orig.numCols,false); A_mod.set(orig); } return !bidiag.decompose(A_mod); }
private boolean bidiagonalization(DenseMatrix64F orig) { // change the matrix to bidiagonal form if( transposed ) { A_mod.reshape(orig.numCols,orig.numRows,false); CommonOps.transpose(orig,A_mod); } else { A_mod.reshape(orig.numRows,orig.numCols,false); A_mod.set(orig); } return !bidiag.decompose(A_mod); }
public void setLinearEqualityConstraints(DenseMatrix64F linearEqualityConstraintsAMatrix, DenseMatrix64F linearEqualityConstraintsBVector) { setAndAssertCorrectNumberOfVariablesToSolve(linearEqualityConstraintsAMatrix.numCols); this.linearEqualityConstraintsBVector.set(linearEqualityConstraintsBVector); this.linearEqualityConstraintsAMatrix.set(linearEqualityConstraintsAMatrix); this.linearEqualityConstraintsAMatrixTranspose.set(CommonOps.transpose(linearEqualityConstraintsAMatrix, null)); }
private boolean bidiagonalization(DenseMatrix64F orig) { // change the matrix to bidiagonal form if( transposed ) { A_mod.reshape(orig.numCols,orig.numRows,false); CommonOps.transpose(orig,A_mod); } else { A_mod.reshape(orig.numRows,orig.numCols,false); A_mod.set(orig); } return !bidiag.decompose(A_mod); }
public void setLinearEqualityConstraints(DenseMatrix64F linearEqualityConstraintsAMatrix, DenseMatrix64F linearEqualityConstraintsBVector) { setAndAssertCorrectNumberOfVariablesToSolve(linearEqualityConstraintsAMatrix.numCols); this.linearEqualityConstraintsBVector.set(linearEqualityConstraintsBVector); this.linearEqualityConstraintsAMatrix.set(linearEqualityConstraintsAMatrix); this.linearEqualityConstraintsAMatrixTranspose.set(CommonOps.transpose(linearEqualityConstraintsAMatrix, null)); }
private void computeJacobianTranspose(DenseMatrix64F jacobian, DenseMatrix64F jacobianTransposeToPack) { jacobianTransposeToPack.reshape(jacobian.getNumCols(), jacobian.getNumRows()); jacobianTransposeToPack.zero(); CommonOps.transpose(jacobian, jacobianTransposeToPack); }
public void setQuadraticCostFunction(DenseMatrix64F quadraticCostQMatrix, DenseMatrix64F quadraticCostQVector, double quadraticCostScalar) { setAndAssertCorrectNumberOfVariablesToSolve(quadraticCostQMatrix.numCols); setAndAssertCorrectNumberOfVariablesToSolve(quadraticCostQMatrix.numRows); setAndAssertCorrectNumberOfVariablesToSolve(quadraticCostQVector.numRows); DenseMatrix64F symCostQuadraticMatrix = new DenseMatrix64F(quadraticCostQMatrix); CommonOps.transpose(symCostQuadraticMatrix); CommonOps.add(quadraticCostQMatrix, symCostQuadraticMatrix, symCostQuadraticMatrix); CommonOps.scale(0.5, symCostQuadraticMatrix); this.quadraticCostQMatrix.set(symCostQuadraticMatrix); this.quadraticCostQVector.set(quadraticCostQVector); this.quadraticCostScalar = quadraticCostScalar; }
private void computeNullspace(DenseMatrix64F nullspaceToPack, DenseMatrix64F matrixToComputeNullspaceOf, int nullity) { int size = matrixToComputeNullspaceOf.getNumCols(); int rank = matrixToComputeNullspaceOf.getNumRows(); nullspaceToPack.reshape(size, nullity); Q.reshape(size, size); transposed.reshape(size, rank); CommonOps.transpose(matrixToComputeNullspaceOf, transposed); decomposer.decompose(transposed); decomposer.getQ(Q, false); CommonOps.extract(Q, 0, Q.getNumRows(), Q.getNumCols() - nullity, Q.getNumCols(), nullspaceToPack, 0, 0); }