triBlockDiagLLT.h

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/* Copyright 2020-2021 CNRS-AIST JRL */
 
#pragma once
 
#include <vector>
 
#include <Eigen/Core>
 
#include <jrl-qp/api.h>
#include <jrl-qp/defs.h>
 
namespace jrl::qp::decomposition
{
JRLQP_DLLAPI bool triBlockDiagLLT(const std::vector<MatrixRef> & diag, const std::vector<MatrixRef> & subDiag);
 
JRLQP_DLLAPI void triBlockDiagLSolve(const std::vector<MatrixRef> & diag,
                                     const std::vector<MatrixRef> & subDiag,
                                     MatrixRef M,
                                     int start = 0);
 
JRLQP_DLLAPI void triBlockDiagLTransposeSolve(const std::vector<MatrixRef> & diag,
                                              const std::vector<MatrixRef> & subDiag,
                                              MatrixRef M,
                                              int end = -1);
} // namespace jrl::qp::decomposition