bindings
python
algorithm
pgs-solver.cpp
Go to the documentation of this file.
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//
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// Copyright (c) 2022-2024 INRIA
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//
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#include "
pinocchio/algorithm/pgs-solver.hpp
"
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#include "
pinocchio/bindings/python/fwd.hpp
"
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#include "
pinocchio/bindings/python/algorithm/contact-solver-base.hpp
"
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#include "
pinocchio/bindings/python/utils/std-vector.hpp
"
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#include <
eigenpy/eigen-from-python.hpp
>
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namespace
pinocchio
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{
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namespace
python
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{
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namespace
bp
=
boost::python
;
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typedef
PGSContactSolverTpl<context::Scalar>
Solver
;
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#ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
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template
<
typename
DelassusMatrixType>
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static
bool
solve_wrapper(
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Solver
& solver,
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const
DelassusMatrixType & G,
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const
context::VectorXs
& g,
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const
context::CoulombFrictionConeVector & cones,
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Eigen::Ref<context::VectorXs> x,
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const
context::Scalar
over_relax = 1)
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{
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return
solver.solve(G, g, cones, x, over_relax);
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}
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#endif
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void
exposePGSContactSolver
()
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{
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#ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
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bp::class_<Solver>(
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"PGSContactSolver"
,
"Projected Gauss Siedel solver for contact dynamics."
,
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bp::init<int>(bp::args(
"self"
,
"problem_dim"
),
"Default constructor."
))
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.def(
ContactSolverBasePythonVisitor<Solver>
())
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.def(
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"solve"
, solve_wrapper<context::MatrixXs>,
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(bp::args(
"self"
,
"G"
,
"g"
,
"cones"
,
"x"
), (bp::arg(
"over_relax"
) =
context::Scalar
(1))),
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"Solve the constrained conic problem composed of problem data (G,g,cones) and starting "
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"from the initial guess."
)
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.def(
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"solve"
, solve_wrapper<context::SparseMatrix>,
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(bp::args(
"self"
,
"G"
,
"g"
,
"cones"
,
"x"
), (bp::arg(
"over_relax"
) =
context::Scalar
(1))),
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"Solve the constrained conic problem composed of problem data (G,g,cones) and starting "
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"from the initial guess."
);
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#endif
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}
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}
// namespace python
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}
// namespace pinocchio
contact-solver-base.hpp
pinocchio::python::ContactSolverBasePythonVisitor
Definition:
bindings/python/algorithm/contact-solver-base.hpp:18
boost::python
eigen-from-python.hpp
pgs-solver.hpp
pinocchio::context::VectorXs
Eigen::Matrix< Scalar, Eigen::Dynamic, 1, Options > VectorXs
Definition:
context/generic.hpp:47
python
pinocchio::python::Solver
ADMMContactSolverTpl< context::Scalar > Solver
Definition:
admm-solver.cpp:26
fwd.hpp
std-vector.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
pinocchio::python::exposePGSContactSolver
void exposePGSContactSolver()
Definition:
pgs-solver.cpp:34
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:12