Struct nalgebra::linalg::UDU

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pub struct UDU<T: RealField, D: Dim> where
    DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,  {
    pub u: OMatrix<T, D, D>,
    pub d: OVector<T, D>,
}

Expand description

UDU factorization.

Fields

u: OMatrix<T, D, D>

The upper triangular matrix resulting from the factorization

d: OVector<T, D>

The diagonal matrix resulting from the factorization

Implementations

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impl<T: RealField, D: Dim> UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

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pub fn new(p: OMatrix<T, D, D>) -> Option<Self>

Computes the UDU^T factorization.

The input matrix p is assumed to be symmetric and this decomposition will only read the upper-triangular part of p.

Ref.: “Optimal control and estimation-Dover Publications”, Robert F. Stengel, (1994) page 360

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pub fn d_matrix(&self) -> OMatrix<T, D, D>

Returns the diagonal elements as a matrix

Trait Implementations

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impl<T: Clone + RealField, D: Clone + Dim> Clone for UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

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fn clone(&self) -> UDU<T, D>

Returns a copy of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl<T: Debug + RealField, D: Debug + Dim> Debug for UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl<'de, T: RealField, D: Dim> Deserialize<'de> for UDU<T, D> where
 DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
 OVector<T, D>: Deserialize<'de>,
 OMatrix<T, D, D>: Deserialize<'de>,

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fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
__D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

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impl<T: RealField, D: Dim> Serialize for UDU<T, D> where
 DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
 OVector<T, D>: Serialize,
 OMatrix<T, D, D>: Serialize,

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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where
S: Serializer,

Serialize this value into the given Serde serializer. Read more

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impl<T: RealField, D: Dim> Copy for UDU<T, D> where
 DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
 OVector<T, D>: Copy,
 OMatrix<T, D, D>: Copy,

Auto Trait Implementations

impl<T, D> !RefUnwindSafe for UDU<T, D>

impl<T, D> !Send for UDU<T, D>

impl<T, D> !Sync for UDU<T, D>

impl<T, D> !Unpin for UDU<T, D>

impl<T, D> !UnwindSafe for UDU<T, D>

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

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Struct nalgebra::linalg::UDU

Fields

Implementations

impl<T: RealField, D: Dim> UDU<T, D> where DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

pub fn new(p: OMatrix<T, D, D>) -> Option<Self>

pub fn d_matrix(&self) -> OMatrix<T, D, D>

Trait Implementations

impl<T: Clone + RealField, D: Clone + Dim> Clone for UDU<T, D> where DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

fn clone(&self) -> UDU<T, D>

fn clone_from(&mut self, source: &Self)

impl<T: Debug + RealField, D: Debug + Dim> Debug for UDU<T, D> where DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

fn fmt(&self, f: &mut Formatter<'_>) -> Result

impl<'de, T: RealField, D: Dim> Deserialize<'de> for UDU<T, D> where DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>, OVector<T, D>: Deserialize<'de>, OMatrix<T, D, D>: Deserialize<'de>,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where __D: Deserializer<'de>,

impl<T: RealField, D: Dim> Serialize for UDU<T, D> where DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>, OVector<T, D>: Serialize, OMatrix<T, D, D>: Serialize,

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error> where __S: Serializer,

impl<T: RealField, D: Dim> Copy for UDU<T, D> where DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>, OVector<T, D>: Copy, OMatrix<T, D, D>: Copy,

Auto Trait Implementations

impl<T, D> !RefUnwindSafe for UDU<T, D>

impl<T, D> !Send for UDU<T, D>

impl<T, D> !Sync for UDU<T, D>

impl<T, D> !Unpin for UDU<T, D>

impl<T, D> !UnwindSafe for UDU<T, D>

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<T> DeserializeOwned for T where T: for<'de> Deserialize<'de>,

impl<T: RealField, D: Dim> UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

impl<T: Clone + RealField, D: Clone + Dim> Clone for UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

impl<T: Debug + RealField, D: Debug + Dim> Debug for UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,

impl<'de, T: RealField, D: Dim> Deserialize<'de> for UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
OVector<T, D>: Deserialize<'de>,
OMatrix<T, D, D>: Deserialize<'de>,

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
__D: Deserializer<'de>,

impl<T: RealField, D: Dim> Serialize for UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
OVector<T, D>: Serialize,
OMatrix<T, D, D>: Serialize,

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> where
S: Serializer,

impl<T: RealField, D: Dim> Copy for UDU<T, D> where
DefaultAllocator: Allocator<T, D> + Allocator<T, D, D>,
OVector<T, D>: Copy,
OMatrix<T, D, D>: Copy,

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

impl<T> DeserializeOwned for T where
T: for<'de> Deserialize<'de>,