| Directory: | ./ |
|---|---|
| File: | bindings/python/math/expose-linalg.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 10 | 14 | 71.4% |
| Branches: | 15 | 34 | 44.1% |
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| 1 | // | ||
| 2 | // Copyright (c) 2021 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/fwd.hpp" | ||
| 6 | #include "pinocchio/bindings/python/utils/namespace.hpp" | ||
| 7 | |||
| 8 | #include "pinocchio/math/matrix.hpp" | ||
| 9 | #include "pinocchio/math/eigenvalues.hpp" | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | namespace python | ||
| 14 | { | ||
| 15 | namespace bp = boost::python; | ||
| 16 | |||
| 17 | template<typename MatrixType> | ||
| 18 | ✗ | typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixType) inv(const Eigen::MatrixBase<MatrixType> & mat) | |
| 19 | { | ||
| 20 | ✗ | typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixType) res(mat.rows(), mat.cols()); | |
| 21 | ✗ | inverse(mat, res); | |
| 22 | ✗ | return res; | |
| 23 | } | ||
| 24 | |||
| 25 | 69 | void exposeLinalg() | |
| 26 | { | ||
| 27 | using namespace Eigen; | ||
| 28 | |||
| 29 | { | ||
| 30 | // using the rpy scope | ||
| 31 |
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138 | bp::scope current_scope = getOrCreatePythonNamespace("linalg"); |
| 32 | |||
| 33 | #ifndef PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED | ||
| 34 |
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65 | bp::def( |
| 35 | "computeLargestEigenvector", | ||
| 36 | (context::VectorXs(*)( | ||
| 37 | const context::MatrixXs &, const int, | ||
| 38 | const context::Scalar))&computeLargestEigenvector<context::MatrixXs>, | ||
| 39 |
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130 | (bp::arg("mat"), bp::arg("max_it") = 10, bp::arg("rel_tol") = 1e-8), |
| 40 | "Compute the lagest eigenvector of a given matrix according to a given eigenvector " | ||
| 41 | "estimate."); | ||
| 42 | |||
| 43 |
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65 | bp::def( |
| 44 | "retrieveLargestEigenvalue", &retrieveLargestEigenvalue<context::MatrixXs>, | ||
| 45 |
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130 | bp::arg("eigenvector"), |
| 46 | "Compute the lagest eigenvalue of a given matrix. This is taking the eigenvector " | ||
| 47 | "computed by the function computeLargestEigenvector."); | ||
| 48 | #endif // PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED | ||
| 49 | |||
| 50 |
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69 | bp::def("inv", &inv<context::MatrixXs>, "Computes the inverse of a matrix."); |
| 51 | #ifdef PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE | ||
| 52 |
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65 | bp::def( |
| 53 | "inv", &inv<Matrix<long double, Dynamic, Dynamic>>, "Computes the inverse of a matrix."); | ||
| 54 | #endif | ||
| 55 | 69 | } | |
| 56 | 69 | } | |
| 57 | |||
| 58 | } // namespace python | ||
| 59 | } // namespace pinocchio | ||
| 60 |