decompositions/sparse/SparseSolverBase.hpp

Go to the documentation of this file.

/*
 * Copyright 2024 INRIA
 */
 
#ifndef __eigenpy_decompositions_sparse_sparse_solver_base_hpp__
#define __eigenpy_decompositions_sparse_sparse_solver_base_hpp__
 
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/eigen/EigenBase.hpp"
 
#include <Eigen/SparseCholesky>
 
namespace eigenpy {
 
template <typename SimplicialDerived>
struct SparseSolverBaseVisitor
    : public boost::python::def_visitor<
          SparseSolverBaseVisitor<SimplicialDerived> > {
  typedef SimplicialDerived Solver;
 
  typedef typename SimplicialDerived::MatrixType MatrixType;
  typedef typename MatrixType::Scalar Scalar;
  typedef typename MatrixType::RealScalar RealScalar;
 
  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, MatrixType::Options>
      DenseVectorXs;
  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic,
                        MatrixType::Options>
      DenseMatrixXs;
 
  template <class PyClass>
  void visit(PyClass &cl) const {
    cl.def("solve", &solve<DenseVectorXs>, bp::args("self", "b"),
           "Returns the solution x of A x = b using the current "
           "decomposition of A.")
        .def("solve", &solve<DenseMatrixXs>, bp::args("self", "B"),
             "Returns the solution X of A X = B using the current "
             "decomposition of A where B is a right hand side matrix.")
 
        .def("solve", &solve<MatrixType>, bp::args("self", "B"),
             "Returns the solution X of A X = B using the current "
             "decomposition of A where B is a right hand side matrix.");
  }
 
 private:
  template <typename MatrixOrVector>
  static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
    return self.solve(vec);
  }
};
 
}  // namespace eigenpy
 
#endif  // ifndef __eigenpy_decompositions_sparse_sparse_solver_base_hpp__