Struct nalgebra::linalg::UDU

pub struct UDU<N: RealField, D: Dim> where
    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,  {
    pub u: MatrixN<N, D>,
    pub d: VectorN<N, D>,
}

UDU factorization.

Fields

u: MatrixN<N, D>

The upper triangular matrix resulting from the factorization

d: VectorN<N, D>

The diagonal matrix resulting from the factorization

Implementations

impl<N: RealField, D: Dim> UDU<N, D> where
    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>, 

pub fn new(p: MatrixN<N, 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) -> MatrixN<N, D>

Returns the diagonal elements as a matrix

Trait Implementations

impl<N: Clone + RealField, D: Clone + Dim> Clone for UDU<N, D> where
    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>, 

fn clone(&self) -> UDU<N, D>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField, D: Debug + Dim> Debug for UDU<N, D> where
    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>, 

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

Formats the value using the given formatter.

impl<N: RealField, D: Dim> Copy for UDU<N, D> where
    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
    VectorN<N, D>: Copy,
    MatrixN<N, D>: Copy,