GeneralizedEigenSolver.hpp

/*
 * Copyright 2025 INRIA
 */

#ifndef __eigenpy_decompositions_generalized_eigen_solver_hpp__
#define __eigenpy_decompositions_generalized_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 GeneralizedEigenSolverVisitor
 : public boost::python::def_visitor<
 GeneralizedEigenSolverVisitor<_MatrixType>> {
 typedef _MatrixType MatrixType;
 typedef typename MatrixType::Scalar Scalar;
 typedef Eigen::GeneralizedEigenSolver<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, MatrixType, bp::optional<bool>>(
 bp::args("A", "B", "computeEigenVectors"),
 "Computes the generalized eigendecomposition of given matrix "
 "pair. "))

 .def("eigenvectors", &Solver::eigenvectors, bp::arg("self"),
 "Returns an expression of the computed generalized eigenvectors. ")
 .def(
 "eigenvalues",
 +[](const Solver& c) { return c.eigenvalues().eval(); },
 "Returns the computed generalized eigenvalues.")

 .def("alphas", &Solver::alphas, bp::arg("self"),
 "Returns the vectors containing the alpha values. ")
 .def("betas", &Solver::betas, bp::arg("self"),
 "Returns the vectors containing the beta values. ")

 .def("compute",
 &GeneralizedEigenSolverVisitor::compute_proxy<MatrixType>,
 bp::args("self", "A", "B"),
 "Computes generalized eigendecomposition of given matrix. ",
 bp::return_self<>())
 .def("compute",
 (Solver &
 (Solver::*)(const MatrixType& A, const MatrixType& B, bool)) &
 Solver::compute,
 bp::args("self", "A", "B", "computeEigenvectors"),
 "Computes generalized eigendecomposition of given matrix. .",
 bp::return_self<>())

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

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

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

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

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

} // namespace eigenpy

#endif // ifndef __eigenpy_decompositions_generalized_eigen_solver_hpp__