| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/math/lanczos-decomposition.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 20 | 20 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_math_lanczos_decomposition_hpp__ | ||
| 6 | #define __pinocchio_python_math_lanczos_decomposition_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/bindings/python/fwd.hpp" | ||
| 9 | #include "pinocchio/math/lanczos-decomposition.hpp" | ||
| 10 | |||
| 11 | #include <eigenpy/eigenpy.hpp> | ||
| 12 | #include <eigenpy/memory.hpp> | ||
| 13 | |||
| 14 | namespace pinocchio | ||
| 15 | { | ||
| 16 | namespace python | ||
| 17 | { | ||
| 18 | namespace bp = boost::python; | ||
| 19 | |||
| 20 | template<typename LanczosDecomposition> | ||
| 21 | struct LanczosDecompositionPythonVisitor | ||
| 22 | : public boost::python::def_visitor<LanczosDecompositionPythonVisitor<LanczosDecomposition>> | ||
| 23 | { | ||
| 24 | typedef typename LanczosDecomposition::Scalar Scalar; | ||
| 25 | typedef typename LanczosDecomposition::TridiagonalMatrix TridiagonalMatrix; | ||
| 26 | typedef typename LanczosDecomposition::PlainMatrix PlainMatrix; | ||
| 27 | |||
| 28 | public: | ||
| 29 | template<class PyClass> | ||
| 30 | 20 | void visit(PyClass & cl) const | |
| 31 | { | ||
| 32 | // static const Scalar dummy_precision = Eigen::NumTraits<Scalar>::dummy_precision(); | ||
| 33 | |||
| 34 |
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40 | cl.def(bp::init<const context::MatrixXs &, const Eigen::DenseIndex>( |
| 35 |
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60 | (bp::arg("self"), bp::arg("mat"), bp::arg("decomposition_size")), |
| 36 | "Default constructor from a given matrix and a given decomposition size.")) | ||
| 37 | |||
| 38 |
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40 | .def( |
| 39 | "compute", &LanczosDecomposition::template compute<context::MatrixXs>, | ||
| 40 | bp::args("self", "mat"), | ||
| 41 | "Computes the Lanczos decomposition for the given input matrix.") | ||
| 42 | |||
| 43 |
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40 | .def( |
| 44 | "Ts", (TridiagonalMatrix & (LanczosDecomposition::*)()) & LanczosDecomposition::Ts, | ||
| 45 |
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20 | bp::arg("self"), |
| 46 | "Returns the tridiagonal matrix associated with the Lanczos decomposition.", | ||
| 47 | 20 | bp::return_internal_reference<>()) | |
| 48 |
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20 | .def( |
| 49 | "Qs", (PlainMatrix & (LanczosDecomposition::*)()) & LanczosDecomposition::Qs, | ||
| 50 |
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20 | bp::arg("self"), |
| 51 | "Returns the orthogonal basis associated with the Lanczos decomposition.", | ||
| 52 | 20 | bp::return_internal_reference<>()) | |
| 53 | |||
| 54 | 40 | .def( | |
| 55 |
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40 | "rank", &LanczosDecomposition::rank, bp::arg("self"), |
| 56 | "Returns the rank of the decomposition.") | ||
| 57 | |||
| 58 |
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40 | .def( |
| 59 | "computeDecompositionResidual", | ||
| 60 | &LanczosDecomposition::template computeDecompositionResidual<context::MatrixXs>, | ||
| 61 | bp::args("self", "mat"), | ||
| 62 | "Computes the residual associated with the decomposition, namely, the quantity \f$ " | ||
| 63 | "A Q_s - Q_s T_s \f$") | ||
| 64 | |||
| 65 | #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS | ||
| 66 |
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20 | .def(bp::self == bp::self) |
| 67 |
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20 | .def(bp::self != bp::self) |
| 68 | #endif | ||
| 69 | |||
| 70 | ; | ||
| 71 | 20 | } | |
| 72 | |||
| 73 | 20 | static void expose() | |
| 74 | { | ||
| 75 | #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) | ||
| 76 | typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(LanczosDecomposition) HolderType; | ||
| 77 | #else | ||
| 78 | typedef ::boost::python::detail::not_specified HolderType; | ||
| 79 | #endif | ||
| 80 | 20 | bp::class_<LanczosDecomposition, HolderType>( | |
| 81 | "LanczosDecomposition", "Lanczos decomposition.", bp::no_init) | ||
| 82 |
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20 | .def(LanczosDecompositionPythonVisitor()); |
| 83 | 20 | } | |
| 84 | }; | ||
| 85 | |||
| 86 | } // namespace python | ||
| 87 | } // namespace pinocchio | ||
| 88 | |||
| 89 | #endif // ifndef __pinocchio_python_math_lanczos_decomposition_hpp__ | ||
| 90 |