solvers.cpp

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/*
 * Copyright 2017-2020 CNRS INRIA
 */

#include <Eigen/Core>

#if EIGEN_VERSION_AT_LEAST(3,2,0)

#include "eigenpy/solvers/solvers.hpp"
#include "eigenpy/solvers/ConjugateGradient.hpp"

#if EIGEN_VERSION_AT_LEAST(3,3,5)
  #include "eigenpy/solvers/LeastSquaresConjugateGradient.hpp"
#endif

namespace eigenpy
{
  void exposeSolvers()
  {
    using namespace Eigen;
    ConjugateGradientVisitor< ConjugateGradient<MatrixXd,Lower|Upper> >::expose();
#if EIGEN_VERSION_AT_LEAST(3,3,5)
    LeastSquaresConjugateGradientVisitor< LeastSquaresConjugateGradient<MatrixXd, LeastSquareDiagonalPreconditioner<MatrixXd::Scalar> > >::expose();
#endif
    
    // Conjugate gradient with limited BFGS preconditioner
    ConjugateGradientVisitor< ConjugateGradient<MatrixXd,Lower|Upper,IdentityPreconditioner > >::expose("IdentityConjugateGradient");
//    ConjugateGradientVisitor< ConjugateGradient<MatrixXd,Lower|Upper,LimitedBFGSPreconditioner<double,Dynamic,Lower|Upper> > >::expose("LimitedBFGSConjugateGradient");
  }
} // namespace eigenpy

#endif