SelfAdjointEigenSolver.hpp

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/*
 * Copyright 2020 INRIA
 */
 
#ifndef __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__
#define __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__
 
#include <Eigen/Core>
#include <Eigen/Eigenvalues>
 
#include "eigenpy/eigen-to-python.hpp"
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/utils/scalar-name.hpp"
 
namespace eigenpy {
 
template <typename _MatrixType>
struct SelfAdjointEigenSolverVisitor
    : public boost::python::def_visitor<
          SelfAdjointEigenSolverVisitor<_MatrixType> > {
  typedef _MatrixType MatrixType;
  typedef typename MatrixType::Scalar Scalar;
  typedef Eigen::SelfAdjointEigenSolver<MatrixType> Solver;
 
  template <class PyClass>
  void visit(PyClass& cl) const {
    cl.def(bp::init<>(bp::arg("self"), "Default constructor"))
        .def(bp::init<Eigen::DenseIndex>(
            bp::args("self", "size"),
            "Default constructor with memory preallocation"))
        .def(bp::init<MatrixType, bp::optional<int> >(
            bp::args("self", "matrix", "options"),
            "Computes eigendecomposition of given matrix"))
 
        .def("eigenvalues", &Solver::eigenvalues, bp::arg("self"),
             "Returns the eigenvalues of given matrix.",
             bp::return_internal_reference<>())
        .def("eigenvectors", &Solver::eigenvectors, bp::arg("self"),
             "Returns the eigenvectors of given matrix.",
             bp::return_internal_reference<>())
 
        .def("compute",
             &SelfAdjointEigenSolverVisitor::compute_proxy<MatrixType>,
             bp::args("self", "matrix"),
             "Computes the eigendecomposition of given matrix.",
             bp::return_value_policy<bp::reference_existing_object>())
        .def("compute",
             (Solver & (Solver::*)(const Eigen::EigenBase<MatrixType>& matrix,
                                   int options)) &
                 Solver::compute,
             bp::args("self", "matrix", "options"),
             "Computes the eigendecomposition of given matrix.",
             bp::return_self<>())
 
        .def("computeDirect",
             &SelfAdjointEigenSolverVisitor::computeDirect_proxy,
             bp::args("self", "matrix"),
             "Computes eigendecomposition of given matrix using a closed-form "
             "algorithm.",
             bp::return_self<>())
        .def("computeDirect",
             (Solver & (Solver::*)(const MatrixType& matrix, int options)) &
                 Solver::computeDirect,
             bp::args("self", "matrix", "options"),
             "Computes eigendecomposition of given matrix using a closed-form "
             "algorithm.",
             bp::return_self<>())
 
        .def("operatorInverseSqrt", &Solver::operatorInverseSqrt,
             bp::arg("self"), "Computes the inverse square root of the matrix.")
        .def("operatorSqrt", &Solver::operatorSqrt, bp::arg("self"),
             "Computes the inverse square root of the matrix.")
 
        .def("info", &Solver::info, bp::arg("self"),
             "NumericalIssue if the input contains INF or NaN values or "
             "overflow occured. Returns Success otherwise.");
  }
 
  static void expose() {
    static const std::string classname =
        "SelfAdjointEigenSolver" + scalar_name<Scalar>::shortname();
    expose(classname);
  }
 
  static void expose(const std::string& name) {
    bp::class_<Solver>(name.c_str(), bp::no_init)
        .def(SelfAdjointEigenSolverVisitor());
  }
 
 private:
  template <typename MatrixType>
  static Solver& compute_proxy(Solver& self,
                               const Eigen::EigenBase<MatrixType>& matrix) {
    return self.compute(matrix);
  }
 
  static Solver& computeDirect_proxy(Solver& self, const MatrixType& matrix) {
    return self.computeDirect(matrix);
  }
};
 
}  // namespace eigenpy
 
#endif  // ifndef __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__