GivensRotation Class Reference

Class for givens rotation. More...

#include <btImplicitQRSVD.h>

Public Member Functions
	GivensRotation (int rowi_in, int rowk_in)
	GivensRotation (btScalar a, btScalar b, int rowi_in, int rowk_in)
	~GivensRotation ()
void	transposeInPlace ()
void	compute (const btScalar a, const btScalar b)
	Compute c and s from a and b so that ( c -s ) ( a ) = ( * ) s c b ( 0 ) More...
void	computeUnconventional (const btScalar a, const btScalar b)
	This function computes c and s so that ( c -s ) ( a ) = ( 0 ) s c b ( * ) More...
void	fill (const btMatrix3x3 &R) const
	Fill the R with the entries of this rotation. More...
void	fill (const btMatrix2x2 &R) const
void	rowRotation (btMatrix3x3 &A) const
	This function does something like c -s 0 ( s c 0 ) A -> A 0 0 1 It only affects row i and row k of A. More...
void	rowRotation (btMatrix2x2 &A) const
void	columnRotation (btMatrix3x3 &A) const
	This function does something like c s 0 A ( -s c 0 ) -> A 0 0 1 It only affects column i and column k of A. More...
void	columnRotation (btMatrix2x2 &A) const
void	operator*= (const GivensRotation &A)
	Multiply givens must be for same row and column. More...
GivensRotation	operator* (const GivensRotation &A) const
	Multiply givens must be for same row and column. More...

Public Attributes
int	rowi
int	rowk
btScalar	c
btScalar	s

Detailed Description

Class for givens rotation.

Row rotation G*A corresponds to something like c -s 0 ( s c 0 ) A 0 0 1 Column rotation A G' corresponds to something like c -s 0 A ( s c 0 ) 0 0 1

c and s are always computed so that ( c -s ) ( a ) = ( * ) s c b ( 0 )

Assume rowi<rowk.

Definition at line 114 of file btImplicitQRSVD.h.

Constructor & Destructor Documentation

GivensRotation() [1/2]

GivensRotation::GivensRotation ( int  rowi_in, int  rowk_in  )

inline

Definition at line 121 of file btImplicitQRSVD.h.

GivensRotation() [2/2]

GivensRotation::GivensRotation ( btScalar  a, btScalar  b, int  rowi_in, int  rowk_in  )

inline

Definition at line 129 of file btImplicitQRSVD.h.

~GivensRotation()

GivensRotation::~GivensRotation ( )

inline

Definition at line 136 of file btImplicitQRSVD.h.

Member Function Documentation

columnRotation() [1/2]

void GivensRotation::columnRotation ( btMatrix2x2 &  A ) const

inline

Definition at line 244 of file btImplicitQRSVD.h.

columnRotation() [2/2]

void GivensRotation::columnRotation ( btMatrix3x3 &  A ) const

inline

This function does something like c s 0 A ( -s c 0 ) -> A 0 0 1 It only affects column i and column k of A.

Definition at line 235 of file btImplicitQRSVD.h.

compute()

void GivensRotation::compute ( const btScalar  a, const btScalar  b  )

inline

Compute c and s from a and b so that ( c -s ) ( a ) = ( * ) s c b ( 0 )

Definition at line 148 of file btImplicitQRSVD.h.

computeUnconventional()

void GivensRotation::computeUnconventional ( const btScalar  a, const btScalar  b  )

inline

This function computes c and s so that ( c -s ) ( a ) = ( 0 ) s c b ( * )

Definition at line 169 of file btImplicitQRSVD.h.

fill() [1/2]

void GivensRotation::fill ( const btMatrix2x2 &  R ) const

inline

Definition at line 193 of file btImplicitQRSVD.h.

fill() [2/2]

void GivensRotation::fill ( const btMatrix3x3 &  R ) const

inline

Fill the R with the entries of this rotation.

Definition at line 183 of file btImplicitQRSVD.h.

operator*()

GivensRotation GivensRotation::operator* ( const GivensRotation &  A ) const

inline

Multiply givens must be for same row and column.

Definition at line 268 of file btImplicitQRSVD.h.

operator*=()

void GivensRotation::operator*= ( const GivensRotation &  A )

inline

Multiply givens must be for same row and column.

Definition at line 257 of file btImplicitQRSVD.h.

rowRotation() [1/2]

void GivensRotation::rowRotation ( btMatrix2x2 &  A ) const

inline

Definition at line 218 of file btImplicitQRSVD.h.

rowRotation() [2/2]

void GivensRotation::rowRotation ( btMatrix3x3 &  A ) const

inline

This function does something like c -s 0 ( s c 0 ) A -> A 0 0 1 It only affects row i and row k of A.

Definition at line 209 of file btImplicitQRSVD.h.

transposeInPlace()

void GivensRotation::transposeInPlace ( )

inline

Definition at line 138 of file btImplicitQRSVD.h.

Member Data Documentation

c

btScalar GivensRotation::c

Definition at line 118 of file btImplicitQRSVD.h.

rowi

int GivensRotation::rowi

Definition at line 116 of file btImplicitQRSVD.h.

rowk

int GivensRotation::rowk

Definition at line 117 of file btImplicitQRSVD.h.

s

btScalar GivensRotation::s

Definition at line 119 of file btImplicitQRSVD.h.

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The documentation for this class was generated from the following file:

• btImplicitQRSVD.h