EigenSolver.hpp

/*
 * Copyright 2020 INRIA
 */

#ifndef __eigenpy_decompositions_eigen_solver_hpp__
#define __eigenpy_decompositions_eigen_solver_hpp__

#include <Eigen/Core>
#include <Eigen/Eigenvalues>

#include "eigenpy/eigen-to-python.hpp"
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/utils/scalar-name.hpp"

namespace eigenpy {

template <typename _MatrixType>
struct EigenSolverVisitor
 : public boost::python::def_visitor<EigenSolverVisitor<_MatrixType>> {
 typedef _MatrixType MatrixType;
 typedef typename MatrixType::Scalar Scalar;
 typedef Eigen::EigenSolver<MatrixType> Solver;

 template <class PyClass>
 void visit(PyClass& cl) const {
 cl.def(bp::init<>("Default constructor"))
 .def(bp::init<Eigen::DenseIndex>(
 bp::arg("size"), "Default constructor with memory preallocation"))
 .def(bp::init<MatrixType, bp::optional<bool>>(
 bp::args("matrix", "compute_eigen_vectors"),
 "Computes eigendecomposition of given matrix"))

 .def("eigenvalues", &Solver::eigenvalues, bp::arg("self"),
 "Returns the eigenvalues of given matrix.",
 bp::return_internal_reference<>())
 .def("eigenvectors", &Solver::eigenvectors, bp::arg("self"),
 "Returns the eigenvectors of given matrix.")

 .def("compute", &EigenSolverVisitor::compute_proxy<MatrixType>,
 bp::args("self", "matrix"),
 "Computes the eigendecomposition of given matrix.",
 bp::return_self<>())
 .def("compute",
 (Solver &
 (Solver::*)(const Eigen::EigenBase<MatrixType>& matrix, bool)) &
 Solver::compute,
 bp::args("self", "matrix", "compute_eigen_vectors"),
 "Computes the eigendecomposition of given matrix.",
 bp::return_self<>())

 .def("getMaxIterations", &Solver::getMaxIterations, bp::arg("self"),
 "Returns the maximum number of iterations.")
 .def("setMaxIterations", &Solver::setMaxIterations,
 bp::args("self", "max_iter"),
 "Sets the maximum number of iterations allowed.",
 bp::return_self<>())

 .def("pseudoEigenvalueMatrix", &Solver::pseudoEigenvalueMatrix,
 bp::arg("self"),
 "Returns the block-diagonal matrix in the "
 "pseudo-eigendecomposition.")
 .def("pseudoEigenvectors", &Solver::pseudoEigenvectors, bp::arg("self"),
 "Returns the pseudo-eigenvectors of given matrix.",
 bp::return_internal_reference<>())

 .def("info", &Solver::info, bp::arg("self"),
 "NumericalIssue if the input contains INF or NaN values or "
 "overflow occured. Returns Success otherwise.");
 }

 static void expose() {
 static const std::string classname =
 "EigenSolver" + scalar_name<Scalar>::shortname();
 expose(classname);
 }

 static void expose(const std::string& name) {
 bp::class_<Solver>(name.c_str(), bp::no_init)
 .def(EigenSolverVisitor())
 .def(IdVisitor<Solver>());
 }

 private:
 template <typename MatrixType>
 static Solver& compute_proxy(Solver& self,
 const Eigen::EigenBase<MatrixType>& matrix) {
 return self.compute(matrix);
 }
};

} // namespace eigenpy

#endif // ifndef __eigenpy_decompositions_eigen_solver_hpp__