48 double alpha, vmax,
norm;
51 for (
int i=0; i<Wy.size(); i++)
52 m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
57 m_WyAWqt = m_WyAWq.transpose();
65 m_WqV.noalias() = Wq*m_V;
68 m_Wy_ydot = Wy.array() * ydot.array();
75 for(
int i=0;i<m_ns;++i) {
79 if (i > 0 && (prevS-S) > maxDeltaS) {
80 maxDeltaS = (prevS-S);
84 alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda);
85 vmax = m_WqV.col(i).array().abs().maxCoeff();
88 qdot += m_WqV.col(i)*(alpha*m_qmax/
norm);
90 qdot += m_WqV.col(i)*alpha;
97 nlcoef = (maxS-maxDeltaS)/maxS;
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)
INLINE Rall1d< T, V, S > sqr(const Rall1d< T, V, S > &arg)