bindings
python
algorithm
expose-cholesky.cpp
Go to the documentation of this file.
1
//
2
// Copyright (c) 2019-2020 CNRS INRIA
3
//
4
5
#include "
pinocchio/bindings/python/algorithm/algorithms.hpp
"
6
#include "
pinocchio/bindings/python/utils/namespace.hpp
"
7
#include "
pinocchio/algorithm/cholesky.hpp
"
8
9
namespace
pinocchio
10
{
11
namespace
python
12
{
13
14
void
exposeCholesky
()
15
{
16
using namespace
Eigen
;
17
using namespace
pinocchio::cholesky
;
18
19
{
20
typedef
context::Scalar
Scalar
;
21
typedef
context::VectorXs
VectorXs
;
22
enum
23
{
24
Options
=
context::Options
25
};
26
27
// using the cholesky scope
28
bp::scope current_scope =
getOrCreatePythonNamespace
(
"cholesky"
);
29
30
bp::def(
31
"decompose"
, &decompose<Scalar, Options, JointCollectionDefaultTpl>,
32
bp::args(
"Model"
,
"Data"
),
33
"Computes the Cholesky decomposition of the joint space inertia matrix M contained "
34
"in data.\n"
35
"The upper triangular part of data.M should have been filled first by calling "
36
"crba, or any related algorithms."
,
37
bp::return_value_policy<bp::return_by_value>());
38
39
bp::def(
40
"solve"
, &solve<Scalar, Options, JointCollectionDefaultTpl, VectorXs>,
41
bp::args(
"Model"
,
"Data"
,
"v"
),
42
"Returns the solution \f$x\f$ of \f$ M x = y \f$ using the Cholesky decomposition "
43
"stored in data given the entry \f$ y \f$."
,
44
bp::return_value_policy<bp::return_by_value>());
45
46
bp::def(
47
"computeMinv"
, &computeMinv<Scalar, Options, JointCollectionDefaultTpl>,
48
bp::args(
"Model"
,
"Data"
),
49
"Returns the inverse of the joint space inertia matrix using the results of the "
50
"Cholesky decomposition\n"
51
"performed by cholesky.decompose. The result is stored in data.Minv."
,
52
bp::return_value_policy<bp::return_by_value>());
53
}
54
}
55
56
}
// namespace python
57
}
// namespace pinocchio
Eigen
pinocchio::python::exposeCholesky
void exposeCholesky()
Definition:
expose-cholesky.cpp:14
pinocchio::python::Scalar
context::Scalar Scalar
Definition:
admm-solver.cpp:29
pinocchio::python::VectorXs
context::VectorXs VectorXs
Definition:
admm-solver.cpp:30
pinocchio::python::Options
@ Options
Definition:
expose-contact-inverse-dynamics.cpp:22
pinocchio::python::getOrCreatePythonNamespace
boost::python::object getOrCreatePythonNamespace(const std::string &submodule_name)
Helper to create or simply return an existing namespace in Python.
Definition:
namespace.hpp:34
pinocchio::context::VectorXs
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
Definition:
context/generic.hpp:47
algorithms.hpp
python
pinocchio::cholesky
Cholesky decompositions.
pinocchio::python::context::Options
@ Options
Definition:
bindings/python/context/generic.hpp:40
cholesky.hpp
pinocchio::python::context::Scalar
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
Definition:
bindings/python/context/generic.hpp:37
pinocchio
Main pinocchio namespace.
Definition:
timings.cpp:27
namespace.hpp
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09