15 m_ns(0), m_nc(0), m_nq(0)
27 if (_nc == 0 || _nq == 0 || gc.size() != _nc)
60 m_AWq.noalias() =
A*Wq;
61 for (i=0; i<m_nc; i++)
62 m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
67 m_WyAWqt = m_WyAWq.transpose();
75 m_Wy_ydot = Wy.array() * ydot.array();
76 m_WqV.noalias() = Wq*m_V;
89 if ((prevS-S) > maxDeltaS) {
90 maxDeltaS = (prevS-S);
96 if (
prev == m_ytask[
l]) {
105 for (j=0; j<m_nq; j++) {
107 if (
prev == m_ytask[
l]) {
108 norm += m_WyAWq(
l,j)*m_WyAWq(
l,j);
111 norm = m_WyAWq(
l,j)*m_WyAWq(
l,j);
116 M +=
fabs(m_V(j,i))*mag;
119 alpha = m_U.col(i).dot(m_Wy_ydot);
120 _qmax = (
N <
M) ? m_qmax*
N/
M : m_qmax;
121 vmax = m_WqV.col(i).array().abs().maxCoeff();
124 damp = Sinv*alpha*_qmax/
norm;
128 qdot += m_WqV.col(i)*damp;
134 nlcoef = (maxS-maxDeltaS)/maxS;
ATTR_WARN_UNUSED_RESULT const BMLoop * l
SIMD_FORCE_INLINE btScalar norm() const
Return the norm (length) of the vector.
virtual bool init(unsigned int _nq, unsigned int _nc, const std::vector< bool > &gc)
virtual bool solve(const e_matrix &A, const e_vector &Wy, const e_vector &ydot, const e_matrix &Wq, e_vector &qdot, e_scalar &nlcoef)
ccl_device_inline float2 fabs(const float2 &a)
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
int svd_eigen_HH(const Eigen::MatrixBase< MatrixA > &A, Eigen::MatrixBase< MatrixUV > &U, Eigen::MatrixBase< VectorS > &S, Eigen::MatrixBase< MatrixUV > &V, Eigen::MatrixBase< VectorS > &tmp, int maxiter=150)
SymEdge< T > * prev(const SymEdge< T > *se)