Directory: | ./ |
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File: | bindings/python/algorithm/pgs-solver.cpp |
Date: | 2024-08-27 18:20:05 |
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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 |