SparseSolverBase.hpp

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/*
 * Copyright 2017, Justin Carpentier, LAAS-CNRS
 *
 * This file is part of eigenpy.
 * eigenpy is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 * eigenpy is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.  You should
 * have received a copy of the GNU Lesser General Public License along
 * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef __eigenpy_sparse_solver_base_hpp__
#define __eigenpy_sparse_solver_base_hpp__

#include "eigenpy/fwd.hpp"

namespace eigenpy
{
  
  namespace bp = boost::python;
  
  template<typename SparseSolver>
  struct SparseSolverVisitor
  : public bp::def_visitor< SparseSolverVisitor<SparseSolver> >
  {
    
    typedef Eigen::VectorXd VectorType;
    
    template<class PyClass>
    void visit(PyClass& cl) const
    {
      cl
      .def("solve",&solve,bp::arg("b"),
           "Returns the solution x of Ax = b using the current decomposition of A.")
      ;
      
    }
    
  private:
    
    static VectorType solve(SparseSolver & self, const VectorType & b)
    {
      return self.solve(b);
    }
    
  };
  
  
  
} // namespace eigenpy

#endif // ifndef __eigenpy_sparse_solver_base_hpp__