From 54ad6aa2902fc4c05411580a2bd60ccf74ca9965 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Tue, 28 Nov 2017 09:47:57 +0100
Subject: [PATCH] [All] Handle old version of Eigen
---
src/solvers/BasicPreconditioners.hpp | 4 ++++
src/solvers/preconditioners.cpp | 2 ++
src/solvers/solvers.cpp | 7 ++++++-
3 files changed, 12 insertions(+), 1 deletion(-)
diff --git a/src/solvers/BasicPreconditioners.hpp b/src/solvers/BasicPreconditioners.hpp
index c3a8263..92a9af5 100644
--- a/src/solvers/BasicPreconditioners.hpp
+++ b/src/solvers/BasicPreconditioners.hpp
@@ -39,8 +39,10 @@ namespace eigenpy
cl
.def(bp::init<>("Default constructor"))
.def(bp::init<MatrixType>(bp::arg("A"),"Initialize the preconditioner with matrix A for further Az=b solving."))
+#if EIGEN_VERSION_AT_LEAST(3,3,0)
.def("info",&Preconditioner::info,
"Returns success if the Preconditioner has been well initialized.")
+#endif
.def("solve",&solve,bp::arg("b"),
"Returns the solution A * z = b where the preconditioner is an estimate of A^-1.")
@@ -91,6 +93,7 @@ namespace eigenpy
}
};
+#if EIGEN_VERSION_AT_LEAST(3,3,0)
template<typename Scalar>
struct LeastSquareDiagonalPreconditionerVisitor : PreconditionerBaseVisitor<Eigen::LeastSquareDiagonalPreconditioner<Scalar> >
{
@@ -113,6 +116,7 @@ namespace eigenpy
}
};
+#endif
struct IdentityPreconditionerVisitor : PreconditionerBaseVisitor<Eigen::IdentityPreconditioner >
{
diff --git a/src/solvers/preconditioners.cpp b/src/solvers/preconditioners.cpp
index 519770d..bea99da 100644
--- a/src/solvers/preconditioners.cpp
+++ b/src/solvers/preconditioners.cpp
@@ -25,7 +25,9 @@ namespace eigenpy
using namespace Eigen;
DiagonalPreconditionerVisitor<double>::expose();
+#if EIGEN_VERSION_AT_LEAST(3,3,0)
LeastSquareDiagonalPreconditionerVisitor<double>::expose();
+#endif
IdentityPreconditionerVisitor::expose();
// LimitedBFGSPreconditionerBaseVisitor< LimitedBFGSPreconditioner<double,Eigen::Dynamic,Eigen::Upper|Eigen::Lower> >::expose("LimitedBFGSPreconditioner");
diff --git a/src/solvers/solvers.cpp b/src/solvers/solvers.cpp
index 6458257..0cca3f8 100644
--- a/src/solvers/solvers.cpp
+++ b/src/solvers/solvers.cpp
@@ -16,7 +16,10 @@
#include "eigenpy/solvers/solvers.hpp"
#include "eigenpy/solvers/ConjugateGradient.hpp"
-#include "eigenpy/solvers/LeastSquaresConjugateGradient.hpp"
+
+#if EIGEN_VERSION_AT_LEAST(3,3,0)
+ #include "eigenpy/solvers/LeastSquaresConjugateGradient.hpp"
+#endif
namespace eigenpy
{
@@ -24,7 +27,9 @@ namespace eigenpy
{
using namespace Eigen;
ConjugateGradientVisitor< ConjugateGradient<MatrixXd,Lower|Upper> >::expose();
+#if EIGEN_VERSION_AT_LEAST(3,3,0)
LeastSquaresConjugateGradientVisitor< LeastSquaresConjugateGradient<MatrixXd, LeastSquareDiagonalPreconditionerFix<MatrixXd::Scalar> > >::expose();
+#endif
// Conjugate gradient with limited BFGS preconditioner
ConjugateGradientVisitor< ConjugateGradient<MatrixXd,Lower|Upper,IdentityPreconditioner > >::expose("IdentityConjugateGradient");
--
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