ConjugateGradient.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_conjugate_gradient_hpp__
#define __eigenpy_conjugate_gradient_hpp__

#include "eigenpy/fwd.hpp"
#include <Eigen/IterativeLinearSolvers>

#include "eigenpy/solvers/IterativeSolverBase.hpp"

namespace eigenpy
{
  
  namespace bp = boost::python;
  
  template<typename ConjugateGradient>
  struct ConjugateGradientVisitor
  :  public boost::python::def_visitor< ConjugateGradientVisitor<ConjugateGradient> >
  {
    typedef typename ConjugateGradient::MatrixType MatrixType;
    
    template<class PyClass>
    void visit(PyClass& cl) const
    {
      cl
      .def(IterativeSolverVisitor<ConjugateGradient>())
      .def(bp::init<>("Default constructor"))
      .def(bp::init<MatrixType>(bp::arg("A"),"Initialize the solver with matrix A for further Ax=b solving.\n"
                                "This constructor is a shortcut for the default constructor followed by a call to compute()."))
      ;
      
    }
    
    static void expose(const std::string & name = "ConjugateGradient")
    {
      bp::class_<ConjugateGradient,boost::noncopyable>(name.c_str(),
                             bp::no_init)
      .def(ConjugateGradientVisitor<ConjugateGradient>())
      ;
      
    }
    
  };
  
} // namespace eigenpy

#endif // ifndef __eigenpy_conjugate_gradient_hpp__