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UDU: Expand to Dim from DimName

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Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
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Christopher Rabotin 2020-09-26 18:34:35 -06:00 committed by Crozet Sébastien
parent 5a7ed61e9b
commit e9933e5c91
1 changed files with 8 additions and 7 deletions
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15
src/linalg/udu.rs
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@ -3,13 +3,13 @@ use serde::{Deserialize, Serialize};
use crate::allocator::Allocator; use crate::allocator::Allocator;
use crate::base::{DefaultAllocator, MatrixN}; use crate::base::{DefaultAllocator, MatrixN};
use crate::dimension::DimName; use crate::dimension::Dim;
use simba::scalar::ComplexField; use simba::scalar::ComplexField;
/// UDU factorization /// UDU factorization
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone, Debug)] #[derive(Clone, Debug)]
pub struct UDU<N: ComplexField, D: DimName> pub struct UDU<N: ComplexField, D: Dim>
where where
DefaultAllocator: Allocator<N, D, D>, DefaultAllocator: Allocator<N, D, D>,
{ {
@ -19,14 +19,14 @@ where
pub d: MatrixN<N, D>, pub d: MatrixN<N, D>,
} }
impl<N: ComplexField, D: DimName> Copy for UDU<N, D> impl<N: ComplexField, D: Dim> Copy for UDU<N, D>
where where
DefaultAllocator: Allocator<N, D, D>, DefaultAllocator: Allocator<N, D, D>,
MatrixN<N, D>: Copy, MatrixN<N, D>: Copy,
{ {
} }
impl<N: ComplexField, D: DimName> UDU<N, D> impl<N: ComplexField, D: Dim> UDU<N, D>
where where
DefaultAllocator: Allocator<N, D, D>, DefaultAllocator: Allocator<N, D, D>,
{ {
@ -34,10 +34,11 @@ where
/// NOTE: The provided matrix MUST be symmetric, and no verification is done in this regard. /// NOTE: The provided matrix MUST be symmetric, and no verification is done in this regard.
/// Ref.: "Optimal control and estimation-Dover Publications", Robert F. Stengel, (1994) page 360 /// Ref.: "Optimal control and estimation-Dover Publications", Robert F. Stengel, (1994) page 360
pub fn new(p: MatrixN<N, D>) -> Self { pub fn new(p: MatrixN<N, D>) -> Self {
let mut d = MatrixN::<N, D>::zeros();
let mut u = MatrixN::<N, D>::zeros();
let n = p.ncols(); let n = p.ncols();
let n_as_dim = D::from_usize(n);
let mut d = MatrixN::<N, D>::zeros_generic(n_as_dim, n_as_dim);
let mut u = MatrixN::<N, D>::zeros_generic(n_as_dim, n_as_dim);
d[(n - 1, n - 1)] = p[(n - 1, n - 1)]; d[(n - 1, n - 1)] = p[(n - 1, n - 1)];
u[(n - 1, n - 1)] = N::one(); u[(n - 1, n - 1)] = N::one();