copp::eigen Namespace Reference

Optional Eigen adapters that convert Eigen objects to COPP matrix views or map COPP-owned matrices without changing the core API types. More...

Typedefs
using	ColMajorMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>
	Dynamic column-major Eigen matrix type matching copp::Matrix storage.
using	RowMajorMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
	Dynamic row-major Eigen matrix accepted by input adapters.
using	Vector = Eigen::Matrix<double, Eigen::Dynamic, 1>
	Dynamic Eigen vector accepted by Span adapters.

Functions
MatrixView	matrix_view (const Eigen::Ref< const ColMajorMatrix > &matrix)
	Borrow a column-major Eigen matrix as a COPP matrix view.
MatrixView	matrix_view (const Eigen::Ref< const RowMajorMatrix > &matrix)
	Borrow a row-major Eigen matrix as a COPP matrix view.
Span< const double >	span (const Eigen::Ref< const Vector > &vector)
	Borrow a contiguous Eigen vector as Span<const double>.
Eigen::Map< ColMajorMatrix >	map (Matrix &matrix)
	Map a mutable COPP matrix into Eigen without copying.
Eigen::Map< const ColMajorMatrix >	map (const Matrix &matrix)
	Map a const COPP matrix into Eigen without copying.
ColMajorMatrix	copy (const Matrix &matrix)
	Copy a COPP matrix into an owning Eigen column-major matrix.

Detailed Description

Optional Eigen adapters that convert Eigen objects to COPP matrix views or map COPP-owned matrices without changing the core API types.

Typedef Documentation

ColMajorMatrix

using copp::eigen::ColMajorMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>

Dynamic column-major Eigen matrix type matching copp::Matrix storage.

Definition at line 19 of file eigen.hpp.

RowMajorMatrix

using copp::eigen::RowMajorMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

Dynamic row-major Eigen matrix accepted by input adapters.

Definition at line 21 of file eigen.hpp.

Vector

using copp::eigen::Vector = Eigen::Matrix<double, Eigen::Dynamic, 1>

Dynamic Eigen vector accepted by Span adapters.

Definition at line 23 of file eigen.hpp.

Function Documentation

matrix_view() [1/2]

MatrixView copp::eigen::matrix_view ( const Eigen::Ref< const ColMajorMatrix > & matrix )

inline

Borrow a column-major Eigen matrix as a COPP matrix view.

Parameters

matrix

Eigen reference whose inner stride must be one.

Returns

Non-owning MatrixView; the Eigen object must outlive the COPP call.

Exceptions

copp::Error

when the view is not contiguous along the inner dimension.

Eigen::MatrixXd waypoints(2, 3);
auto path = copp::Path::from_waypoints(copp::eigen::matrix_view(waypoints));

Definition at line 35 of file eigen.hpp.

matrix_view() [2/2]

MatrixView copp::eigen::matrix_view ( const Eigen::Ref< const RowMajorMatrix > & matrix )

inline

Borrow a row-major Eigen matrix as a COPP matrix view.

Row-major views are useful for user-owned data tables. Public COPP functions either interpret the row-major descriptor directly or copy once before entering Rust, depending on the operation.

Definition at line 53 of file eigen.hpp.

span()

Span< const double > copp::eigen::span ( const Eigen::Ref< const Vector > & vector )

inline

Borrow a contiguous Eigen vector as Span<const double>.

Definition at line 68 of file eigen.hpp.

map() [1/2]

Eigen::Map< ColMajorMatrix > copp::eigen::map ( Matrix & matrix )

inline

Map a mutable COPP matrix into Eigen without copying.

The returned Eigen::Map borrows matrix; do not use it after the matrix is destroyed or reallocated.

Definition at line 81 of file eigen.hpp.

map() [2/2]

Eigen::Map< const ColMajorMatrix > copp::eigen::map ( const Matrix & matrix )

inline

Map a const COPP matrix into Eigen without copying.

Definition at line 90 of file eigen.hpp.

copy()

ColMajorMatrix copp::eigen::copy ( const Matrix & matrix )

inline

Copy a COPP matrix into an owning Eigen column-major matrix.

Definition at line 99 of file eigen.hpp.