Directory: | ./ |
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File: | include/pinocchio/bindings/python/utils/eigen.hpp |
Date: | 2024-08-27 18:20:05 |
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1 | // | ||
2 | // Copyright (c) 2020-2021 INRIA | ||
3 | // | ||
4 | |||
5 | #ifndef __pinocchio_python_utils_eigen_hpp__ | ||
6 | #define __pinocchio_python_utils_eigen_hpp__ | ||
7 | |||
8 | #include "pinocchio/bindings/python/fwd.hpp" | ||
9 | #include <eigenpy/eigen-to-python.hpp> | ||
10 | |||
11 | namespace pinocchio | ||
12 | { | ||
13 | namespace python | ||
14 | { | ||
15 | |||
16 | template<typename Matrix> | ||
17 | 6 | Eigen::Ref<Matrix> make_ref(const Eigen::PlainObjectBase<Matrix> & mat) | |
18 | { | ||
19 | typedef Eigen::Ref<Matrix> ReturnType; | ||
20 | 6 | return ReturnType(mat.const_cast_derived()); | |
21 | } | ||
22 | |||
23 | template<typename Matrix> | ||
24 | 2 | void make_symmetric(const Eigen::MatrixBase<Matrix> & mat, const int mode = Eigen::Upper) | |
25 | { | ||
26 |
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2 | if (mode == Eigen::Upper) |
27 | { | ||
28 |
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2 | mat.const_cast_derived().template triangularView<Eigen::StrictlyLower>() = |
29 |
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4 | mat.transpose().template triangularView<Eigen::StrictlyLower>(); |
30 | } | ||
31 | ✗ | else if (mode == Eigen::Lower) | |
32 | { | ||
33 | ✗ | mat.const_cast_derived().template triangularView<Eigen::StrictlyUpper>() = | |
34 | ✗ | mat.transpose().template triangularView<Eigen::StrictlyUpper>(); | |
35 | } | ||
36 | 2 | } | |
37 | |||
38 | template<typename Matrix> | ||
39 | typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix) make_copy(const Eigen::MatrixBase<Matrix> & mat) | ||
40 | { | ||
41 | typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix) ReturnType; | ||
42 | return ReturnType(mat); | ||
43 | } | ||
44 | |||
45 | } // namespace python | ||
46 | } // namespace pinocchio | ||
47 | |||
48 | #endif // ifndef __pinocchio_python_utils_eigen_hpp__ | ||
49 |