tridiagonal-matrix.hpp

//
// Copyright (c) 2024 INRIA
//

#pragma once

#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/math.hpp"

#include <eigenpy/eigenpy.hpp>
#include <eigenpy/memory.hpp>

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 template<typename TridiagonalSymmetricMatrix>
 struct TridiagonalSymmetricMatrixPythonVisitor
 : public boost::python::def_visitor<
 TridiagonalSymmetricMatrixPythonVisitor<TridiagonalSymmetricMatrix>>
 {
 typedef typename TridiagonalSymmetricMatrix::Scalar Scalar;
 typedef typename TridiagonalSymmetricMatrix::CoeffVectorType CoeffVectorType;
 typedef typename TridiagonalSymmetricMatrix::PlainMatrixType PlainMatrixType;

 public:
 template<class PyClass>
 void visit(PyClass & cl) const
 {
 static const Scalar dummy_precision = Eigen::NumTraits<Scalar>::dummy_precision();

 cl.def(
 bp::init<Eigen::Index>(
 (bp::arg("self"), bp::arg("size")), "Default constructor from a given size."))
#ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
 .def(bp::self == bp::self)
 .def(bp::self != bp::self)
#endif
 .def(
 "diagonal",
 (CoeffVectorType & (TridiagonalSymmetricMatrix::*)())
 & TridiagonalSymmetricMatrix::diagonal,
 bp::arg("self"),
 "Reference of the diagonal elements of the symmetric tridiagonal matrix.",
 bp::return_internal_reference<>())
 .def(
 "subDiagonal",
 (CoeffVectorType & (TridiagonalSymmetricMatrix::*)())
 & TridiagonalSymmetricMatrix::subDiagonal,
 bp::arg("self"),
 "Reference of the sub diagonal elements of the symmetric tridiagonal matrix.",
 bp::return_internal_reference<>())

 .def(
 "setIdentity", &TridiagonalSymmetricMatrix::setIdentity, bp::arg("self"),
 "Set the current tridiagonal matrix to identity.")
 .def(
 "setZero", &TridiagonalSymmetricMatrix::setZero, bp::arg("self"),
 "Set the current tridiagonal matrix to zero.")
 .def(
 "setDiagonal", &TridiagonalSymmetricMatrix::template setDiagonal<CoeffVectorType>,
 bp::args("self", "diagonal"),
 "Set the current tridiagonal matrix to a diagonal matrix given by the entry vector "
 "diagonal.")
 .def(
 "setRandom", &TridiagonalSymmetricMatrix::setRandom, bp::arg("self"),
 "Set the current tridiagonal matrix to random.")
#ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
 .def(
 "isIdentity", &TridiagonalSymmetricMatrix::isIdentity,
 (bp::arg("self"), bp::arg("prec") = dummy_precision),
 "Returns true if *this is approximately equal to the identity matrix, within the "
 "precision given by prec.")
 .def(
 "isZero", &TridiagonalSymmetricMatrix::isZero,
 (bp::arg("self"), bp::arg("prec") = dummy_precision),
 "Returns true if *this is approximately equal to the zero matrix, within the "
 "precision given by prec.")
 .def(
 "isDiagonal", &TridiagonalSymmetricMatrix::isDiagonal,
 (bp::arg("self"), bp::arg("prec") = dummy_precision),
 "Returns true if *this is approximately equal to the a diagonal matrix, within the "
 "precision given by prec.")
#endif // PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
 .def("rows", &TridiagonalSymmetricMatrix::rows, bp::arg("self"))
 .def("cols", &TridiagonalSymmetricMatrix::cols, bp::arg("self"))
 .def("matrix", &TridiagonalSymmetricMatrix::matrix, bp::arg("self"))

 .def(
 "computeEigenvalue", &TridiagonalSymmetricMatrix::computeEigenvalue,
 (bp::arg("self"), bp::arg("eigenvalue_index"), bp::arg("eps") = 1e-8),
 "Computes the kth eigenvalue associated with the input tridiagonal matrix up to "
 "precision eps.")

 .def(
 "computeSpectrum", &TridiagonalSymmetricMatrix::computeSpectrum,
 (bp::arg("self"), bp::arg("eps") = 1e-8),
 "Computes the full spectrum associated with the input tridiagonal matrix up to "
 "precision eps.")

 .def(bp::self * PlainMatrixType())
 .def(PlainMatrixType() * bp::self);
 }

 static void expose()
 {
 typedef ::boost::python::detail::not_specified HolderType;
 bp::class_<TridiagonalSymmetricMatrix, HolderType>(
 "TridiagonalSymmetricMatrix", "Tridiagonal symmetric matrix.", bp::no_init)
 .def(TridiagonalSymmetricMatrixPythonVisitor());
 }
 };

 } // namespace python
} // namespace pinocchio