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// |
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// Copyright (c) 2020 INRIA |
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// |
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#ifndef __pinocchio_python_utils_eigen_hpp__ |
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#define __pinocchio_python_utils_eigen_hpp__ |
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#include "pinocchio/bindings/python/fwd.hpp" |
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#include <eigenpy/eigen-to-python.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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template<typename Matrix> |
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Eigen::Ref<Matrix> make_ref(Eigen::PlainObjectBase<Matrix> & mat) |
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{ |
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typedef Eigen::Ref<Matrix> ReturnType; |
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return ReturnType(mat); |
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} |
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template<typename Matrix> |
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void make_symmetric(Eigen::MatrixBase<Matrix> & mat) |
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{ |
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✓✗✓✗
✓✗ |
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mat.template triangularView<Eigen::StrictlyLower>() = |
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mat.transpose().template triangularView<Eigen::StrictlyLower>(); |
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} |
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template<typename Matrix> |
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typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix) make_copy(const Eigen::MatrixBase<Matrix> & mat) |
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{ |
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typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix) ReturnType; |
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return ReturnType(mat); |
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} |
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} // namespace python |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_python_utils_eigen_hpp__ |