Struct UDU

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

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

Formats the value using the given formatter.

impl<'de, T: RealField, D: Dim> Deserialize<'de> for UDU<T, D>

where DefaultAllocator: Allocator<D> + Allocator<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>,

Deserialize this value from the given Serde deserializer.

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

where DefaultAllocator: Allocator<D> + Allocator<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,

Serialize this value into the given Serde serializer.

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,