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// |
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// Copyright (c) 2019 CNRS INRIA |
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// |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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#include "pinocchio/bindings/python/utils/namespace.hpp" |
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#include "pinocchio/algorithm/cholesky.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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void exposeCholesky() |
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{ |
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using namespace Eigen; |
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using namespace pinocchio::cholesky; |
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{ |
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// using the cholesky scope |
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✓✗✓✗
✓✗ |
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bp::scope current_scope = getOrCreatePythonNamespace("cholesky"); |
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✓✗ |
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bp::def("decompose", |
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&decompose<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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bp::args("Model","Data"), |
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"Computes the Cholesky decomposition of the joint space inertia matrix M contained in data.\n" |
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"The upper triangular part of data.M should have been filled first by calling crba, or any related algorithms.", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("solve", |
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&solve<double,0,JointCollectionDefaultTpl,VectorXd>, |
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✓✗ |
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bp::args("Model","Data","v"), |
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"Returns the solution \f$x\f$ of \f$ M x = y \f$ using the Cholesky decomposition stored in data given the entry \f$ y \f$.", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeMinv", |
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&pinocchio::cholesky::computeMinv<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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bp::args("Model","Data"), |
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"Returns the inverse of the inverse of the joint space inertia matrix using the results of the Cholesky decomposition\n" |
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"performed by cholesky.decompose. The result is stored in data.Minv.", |
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bp::return_value_policy<bp::return_by_value>()); |
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} |
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} |
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} // namespace python |
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} // namespace pinocchio |