Struct nalgebra::linalg::UDU

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>,
}

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

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>

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

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

Returns the diagonal elements as a matrix

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>

Returns a copy of the value.

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

Performs copy-assignment from source.

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

Formats the value using the given formatter.

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,