casadi_utils Namespace Reference

Small adapters between CasADi DM matrices and Eigen dense matrices. More...

Functions
Eigen::MatrixXd	to_eigen (const casadi::DM &dm)
	Convert a CasADi DM (column-major) into an Eigen MatrixXd.
casadi::DM	to_casadi (const Eigen::MatrixXd &mat)
	Convert an Eigen MatrixXd into a CasADi DM.

Detailed Description

Small adapters between CasADi DM matrices and Eigen dense matrices.

Function Documentation

to_casadi()

casadi::DM casadi_utils::to_casadi ( const Eigen::MatrixXd & mat )

inline

Convert an Eigen MatrixXd into a CasADi DM.

Parameters

mat	Eigen matrix to copy.

Returns

CasADi DM holding a deep copy of mat.

to_eigen()

Eigen::MatrixXd casadi_utils::to_eigen ( const casadi::DM & dm )

inline

Convert a CasADi DM (column-major) into an Eigen MatrixXd.

Parameters

dm	CasADi DM with the same shape as the returned matrix.

Returns

Eigen MatrixXd holding a deep copy of dm.