| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-cholesky.cpp |
| Date: | 2025-04-30 16:14:33 |
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| Lines: | 13 | 13 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2019-2020 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/bindings/python/utils/namespace.hpp" | ||
| 7 | #include "pinocchio/algorithm/cholesky.hpp" | ||
| 8 | |||
| 9 | #include "pinocchio/bindings/python/utils/model-checker.hpp" | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | namespace python | ||
| 14 | { | ||
| 15 | |||
| 16 | 72 | void exposeCholesky() | |
| 17 | { | ||
| 18 | using namespace Eigen; | ||
| 19 | using namespace pinocchio::cholesky; | ||
| 20 | |||
| 21 | { | ||
| 22 | typedef context::Scalar Scalar; | ||
| 23 | typedef context::VectorXs VectorXs; | ||
| 24 | enum | ||
| 25 | { | ||
| 26 | Options = context::Options | ||
| 27 | }; | ||
| 28 | |||
| 29 | // using the cholesky scope | ||
| 30 |
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144 | bp::scope current_scope = getOrCreatePythonNamespace("cholesky"); |
| 31 | |||
| 32 |
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72 | bp::def( |
| 33 | "decompose", &decompose<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 34 |
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144 | bp::args("Model", "Data"), |
| 35 | "Computes the Cholesky decomposition of the joint space inertia matrix M contained " | ||
| 36 | "in data.\n" | ||
| 37 | "The upper triangular part of data.M should have been filled first by calling " | ||
| 38 | "crba, or any related algorithms.", | ||
| 39 | 72 | mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0)); | |
| 40 | |||
| 41 |
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72 | bp::def( |
| 42 | "solve", &solve<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
| 43 |
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144 | bp::args("Model", "Data", "v"), |
| 44 | "Returns the solution \f$x\f$ of \f$ M x = y \f$ using the Cholesky decomposition " | ||
| 45 | "stored in data given the entry \f$ y \f$.", | ||
| 46 | 72 | mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0)); | |
| 47 | |||
| 48 |
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72 | bp::def( |
| 49 | "computeMinv", &computeMinv<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 50 |
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144 | bp::args("Model", "Data"), |
| 51 | "Returns the inverse of the joint space inertia matrix using the results of the " | ||
| 52 | "Cholesky decomposition\n" | ||
| 53 | "performed by cholesky.decompose. The result is stored in data.Minv.", | ||
| 54 | 72 | mimic_not_supported_function<bp::return_value_policy<bp::return_by_value>>(0)); | |
| 55 | 72 | } | |
| 56 | 72 | } | |
| 57 | |||
| 58 | } // namespace python | ||
| 59 | } // namespace pinocchio | ||
| 60 |