SofaCaribou::Algebra::EigenMatrix< Derived, Enable > Class Template Reference

Detailed Description

template<typename Derived, typename Enable = void>
class SofaCaribou::Algebra::EigenMatrix< Derived, Enable >

This class can be use to represent any Eigen matrix within SOFA.

It implements (and overloads) the BaseMatrix class of Sofa. This class hence allows to either to create a new Eigen matrix or copy/map an existing one and use it in Sofa's components or visitors.

Note

The wrapper around Eigen sparse matrices has the following exceptions:

1. Before the matrix is initialized using a series of triplets, accessing an element of the matrix has undefined behavior.

Example:

// Wrapper by copy
using EigenDense = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>;
EigenDense m(100,100);
m(30, 30) = 1;
 
EigenMatrixWrapper<EigenDense> wrapper(m);
std::cout << m(30, 30) == wrapper(30, 30); // TRUE
 
wrapper(30, 30) = 100;
std::cout << m(30, 30) == wrapper(30, 30); // FALSE

Example:

// Wrapper by reference
using EigenDense = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>;
EigenDense m(100,100);
m(30, 30) = 1;
 
EigenMatrixWrapper<EigenDense &> wrapper(m);x
std::cout << m(30, 30) == wrapper(30, 30); // TRUE
 
wrapper(30, 30) = 100;
std::cout << m(30, 30) == wrapper(30, 30); // TRUE

#include <EigenMatrix.h>

Inheritance diagram for SofaCaribou::Algebra::EigenMatrix< Derived, Enable >:

Public Types
using	EigenType = std::remove_cv_t< std::remove_reference_t< Derived > >
using	Base = sofa::defaulttype::BaseMatrix
using	Index = Base::Index
using	Real = SReal

Public Member Functions
	EigenMatrix (std::remove_reference_t< Derived > &eigen_matrix)
	Construct the class using another Eigen matrix. More...
	EigenMatrix (Eigen::Index rows, Eigen::Index cols)
	Construct a new rows x cols Eigen matrix of type Derived. More...
Index	rowSize () const final
Index	colSize () const final
Real	element (Index i, Index j) const final
void	resize (Index nbRow, Index nbCol) final
	Resize the matrix to nbRow x nbCol dimensions. More...
void	clear () override
	Set all entries to zero. More...
void	set (Index i, Index j, double v) final
	Set this value of the matrix entry (i, j) to the value of v.
void	add (Index i, Index j, double v) final
	Adds v to the value of the matrix entry (i, j).
void	add (Index i, Index j, const sofa::defaulttype::Mat3x3d &m) override
void	add (Index i, Index j, const sofa::defaulttype::Mat3x3f &m) override
void	add (Index i, Index j, const sofa::defaulttype::Mat2x2d &m) override
void	add (Index i, Index j, const sofa::defaulttype::Mat2x2f &m) override
void	clearRow (Index i) final
	Sets the entire row i to zero.
void	clearRows (Index imin, Index imax) final
	Sets the rows from index imin to index imax (inclusively) to zero.
void	clearCol (Index i) final
	Sets the entire columns i to zero.
void	clearCols (Index imin, Index imax) final
	Sets the columns from index imin to index imax (inclusively) to zero.
const EigenType &	matrix () const
	Get a const reference to the underlying Eigen matrix

Constructor & Destructor Documentation

EigenMatrix() [1/2]

template<typename Derived , typename Enable = void>

SofaCaribou::Algebra::EigenMatrix< Derived, Enable >::EigenMatrix ( std::remove_reference_t< Derived > &  eigen_matrix )

inlineexplicit

Construct the class using another Eigen matrix.

Depending on the template parameter used for the class, this constructor will either create a new Eigen matrix and copy its content from the parameter eigen_matrix, or it will simply store a reference to this external matrix.

Parameters

eigen_matrix

The external matrix

EigenMatrix() [2/2]

template<typename Derived , typename Enable = void>

SofaCaribou::Algebra::EigenMatrix< Derived, Enable >::EigenMatrix ( Eigen::Index  rows, Eigen::Index  cols  )

inline

Construct a new rows x cols Eigen matrix of type Derived.

Parameters

rows	Number of rows.
cols	Number of columns.

Member Function Documentation

clear()

template<typename Derived , typename Enable = void>

void SofaCaribou::Algebra::EigenMatrix< Derived, Enable >::clear ( )

inlineoverride

Set all entries to zero.

Keeps the current matrix dimensions.

resize()

template<typename Derived , typename Enable = void>

void SofaCaribou::Algebra::EigenMatrix< Derived, Enable >::resize ( Index  nbRow, Index  nbCol  )

inlinefinal

Resize the matrix to nbRow x nbCol dimensions.

This method resets to zero all entries.

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

• /home/jnbrunet/sources/caribou/src/Plugin/Algebra/EigenMatrix.h