| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/utils/eigen.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 7 | 10 | 70.0% |
| Branches: | 4 | 16 | 25.0% |
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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 |