Struct nalgebra::linalg::UDU

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pub struct UDU<T: RealField, D: Dim>{
    pub u: OMatrix<T, D, D>,
    pub d: OVector<T, D>,
}
Expand description

UDU factorization.

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§u: OMatrix<T, D, D>

The upper triangular matrix resulting from the factorization

§d: OVector<T, D>

The diagonal matrix resulting from the factorization

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impl<T: RealField, D: Dim> UDU<T, 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>

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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>

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

Auto Trait Implementations§

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

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

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

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

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

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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,

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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,

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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

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fn from(t: T) -> T

Returns the argument unchanged.

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

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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 for T

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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,

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

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.