| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/pgs-solver.cpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
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| Lines: | 9 | 11 | 81.8% |
| Branches: | 13 | 26 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2022-2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/algorithm/pgs-solver.hpp" | ||
| 6 | #include "pinocchio/bindings/python/fwd.hpp" | ||
| 7 | |||
| 8 | #include "pinocchio/bindings/python/algorithm/contact-solver-base.hpp" | ||
| 9 | #include "pinocchio/bindings/python/utils/std-vector.hpp" | ||
| 10 | #include <eigenpy/eigen-from-python.hpp> | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | namespace python | ||
| 15 | { | ||
| 16 | namespace bp = boost::python; | ||
| 17 | |||
| 18 | typedef PGSContactSolverTpl<context::Scalar> Solver; | ||
| 19 | |||
| 20 | #ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE | ||
| 21 | template<typename DelassusMatrixType> | ||
| 22 | ✗ | static bool solve_wrapper( | |
| 23 | Solver & solver, | ||
| 24 | const DelassusMatrixType & G, | ||
| 25 | const context::VectorXs & g, | ||
| 26 | const context::CoulombFrictionConeVector & cones, | ||
| 27 | Eigen::Ref<context::VectorXs> x, | ||
| 28 | const context::Scalar over_relax = 1) | ||
| 29 | { | ||
| 30 | ✗ | return solver.solve(G, g, cones, x, over_relax); | |
| 31 | } | ||
| 32 | #endif | ||
| 33 | |||
| 34 | 20 | void exposePGSContactSolver() | |
| 35 | { | ||
| 36 | #ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE | ||
| 37 |
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20 | bp::class_<Solver>( |
| 38 | "PGSContactSolver", "Projected Gauss Siedel solver for contact dynamics.", | ||
| 39 |
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40 | bp::init<int>(bp::args("self", "problem_dim"), "Default constructor.")) |
| 40 |
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20 | .def(ContactSolverBasePythonVisitor<Solver>()) |
| 41 |
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20 | .def( |
| 42 | "solve", solve_wrapper<context::MatrixXs>, | ||
| 43 |
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40 | (bp::args("self", "G", "g", "cones", "x"), (bp::arg("over_relax") = context::Scalar(1))), |
| 44 | "Solve the constrained conic problem composed of problem data (G,g,cones) and starting " | ||
| 45 | "from the initial guess.") | ||
| 46 |
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20 | .def( |
| 47 | "solve", solve_wrapper<context::SparseMatrix>, | ||
| 48 |
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40 | (bp::args("self", "G", "g", "cones", "x"), (bp::arg("over_relax") = context::Scalar(1))), |
| 49 | "Solve the constrained conic problem composed of problem data (G,g,cones) and starting " | ||
| 50 | "from the initial guess."); | ||
| 51 | |||
| 52 | #endif | ||
| 53 | 20 | } | |
| 54 | |||
| 55 | } // namespace python | ||
| 56 | } // namespace pinocchio | ||
| 57 |