Examples with MatrixNd maspack.matrix.MatrixNd used on opensource projects

Example 36 with MatrixNd

use of maspack.matrix.MatrixNd in project artisynth_core by artisynth.

the class SphericalJointForceBound method frameToGlobal.

/**
 * Transforms the bound vectors back into global coordinates.
 */
protected void frameToGlobal() {
    N = new MatrixNd(NFrame.rowSize(), 3);
    RigidTransform3d R = frame.getPose();
    for (int i = 0; i < NFrame.rowSize(); i++) {
        // Get the values from the i'th row of NFrame
        double[] d = new double[3];
        NFrame.getRow(i, d);
        // Create a vector from the row and transform it back to global
        Vector3d vGlobal = new Vector3d(d);
        vGlobal.transform(R);
        // Add it to N (which is used to solve)
        N.setRow(i, vGlobal);
    }
}

Example 37 with MatrixNd

use of maspack.matrix.MatrixNd in project artisynth_core by artisynth.

the class LeastSquaresSolver method resizeVariables.

public void resizeVariables(int costRowSize, int conRowSize, int exSize) {
    this.costRowSize = costRowSize;
    this.conRowSize = conRowSize;
    this.exSize = exSize;
    Q = new MatrixNd(exSize, exSize);
    f = new VectorNd(exSize);
    x = new VectorNd(exSize);
    x0 = new VectorNd(exSize);
    int boundsSize = resetBounds();
    A = new MatrixNd(boundsSize, exSize);
    b = new VectorNd(boundsSize);
}