diff --git a/CMakeLists.txt b/CMakeLists.txt
index fe859582faa995cff49c742fec3cfdc482f5e690..89d3ad7e784d46f4e150935828711a90623b6af1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -142,7 +142,8 @@ set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_CHOLMOD_HEADERS
set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS
include/eigenpy/decompositions/sparse/LLT.hpp
include/eigenpy/decompositions/sparse/LDLT.hpp
- include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp)
+ include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp
+ include/eigenpy/decompositions/sparse/SparseSolverBase.hpp)
if(BUILD_WITH_CHOLMOD_SUPPORT)
list(APPEND ${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS
diff --git a/include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp b/include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp
index 3bbdd18020b5f938bfbec6c3aea9ab57dbf4a3a3..ad109140b08eeb79e8705ce419086203bd6a6721 100644
--- a/include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp
+++ b/include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp
@@ -7,6 +7,7 @@
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/eigen/EigenBase.hpp"
+#include "eigenpy/decompositions/sparse/SparseSolverBase.hpp"
#include <Eigen/SparseCholesky>
@@ -37,6 +38,7 @@ struct SimplicialCholeskyVisitor
"problems having the same structure.")
.def(EigenBaseVisitor<Solver>())
+ .def(SparseSolverBaseVisitor<Solver>())
.def("matrixL", &matrixL, bp::arg("self"),
"Returns the lower triangular matrix L.")
@@ -74,33 +76,17 @@ struct SimplicialCholeskyVisitor
"scale=1.",
bp::return_self<>())
- .def("solve", &solve<DenseVectorXs>, bp::args("self", "b"),
- "Returns the solution x of A x = b using the current "
- "decomposition of A.")
- .def("solve", &solve<DenseMatrixXs>, bp::args("self", "B"),
- "Returns the solution X of A X = B using the current "
- "decomposition of A where B is a right hand side matrix.")
-
.def("permutationP", &Solver::permutationP, bp::arg("self"),
"Returns the permutation P.",
bp::return_value_policy<bp::copy_const_reference>())
.def("permutationPinv", &Solver::permutationPinv, bp::arg("self"),
"Returns the inverse P^-1 of the permutation P.",
- bp::return_value_policy<bp::copy_const_reference>())
-
- .def("solve", &solve<MatrixType>, bp::args("self", "B"),
- "Returns the solution X of A X = B using the current "
- "decomposition of A where B is a right hand side matrix.");
+ bp::return_value_policy<bp::copy_const_reference>());
}
private:
static MatrixType matrixL(const Solver &self) { return self.matrixL(); }
static MatrixType matrixU(const Solver &self) { return self.matrixU(); }
-
- template <typename MatrixOrVector>
- static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
- return self.solve(vec);
- }
};
} // namespace eigenpy
diff --git a/include/eigenpy/decompositions/sparse/SparseSolverBase.hpp b/include/eigenpy/decompositions/sparse/SparseSolverBase.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..2afc1b917d1060ef037f5186f3b885f340cfc87d
--- /dev/null
+++ b/include/eigenpy/decompositions/sparse/SparseSolverBase.hpp
@@ -0,0 +1,54 @@
+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decomposition_sparse_sparse_solver_base_hpp__
+#define __eigenpy_decomposition_sparse_sparse_solver_base_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/eigen/EigenBase.hpp"
+
+#include <Eigen/SparseCholesky>
+
+namespace eigenpy {
+
+template <typename SimplicialDerived>
+struct SparseSolverBaseVisitor
+ : public boost::python::def_visitor<
+ SparseSolverBaseVisitor<SimplicialDerived> > {
+ typedef SimplicialDerived Solver;
+
+ typedef typename SimplicialDerived::MatrixType MatrixType;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+
+ typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, MatrixType::Options>
+ DenseVectorXs;
+ typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic,
+ MatrixType::Options>
+ DenseMatrixXs;
+
+ template <class PyClass>
+ void visit(PyClass &cl) const {
+ cl.def("solve", &solve<DenseVectorXs>, bp::args("self", "b"),
+ "Returns the solution x of A x = b using the current "
+ "decomposition of A.")
+ .def("solve", &solve<DenseMatrixXs>, bp::args("self", "B"),
+ "Returns the solution X of A X = B using the current "
+ "decomposition of A where B is a right hand side matrix.")
+
+ .def("solve", &solve<MatrixType>, bp::args("self", "B"),
+ "Returns the solution X of A X = B using the current "
+ "decomposition of A where B is a right hand side matrix.");
+ }
+
+ private:
+ template <typename MatrixOrVector>
+ static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
+ return self.solve(vec);
+ }
+};
+
+} // namespace eigenpy
+
+#endif // ifndef __eigenpy_decomposition_sparse_sparse_solver_base_hpp__
diff --git a/include/eigenpy/decompositions/sparse/cholmod/CholmodBase.hpp b/include/eigenpy/decompositions/sparse/cholmod/CholmodBase.hpp
index bca0e7f19838cfc77eae9bc89a3cfefd14c6701c..9df15099ee9b361614d4fa576702ee6ec5412f9b 100644
--- a/include/eigenpy/decompositions/sparse/cholmod/CholmodBase.hpp
+++ b/include/eigenpy/decompositions/sparse/cholmod/CholmodBase.hpp
@@ -7,6 +7,7 @@
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/eigen/EigenBase.hpp"
+#include "eigenpy/decompositions/sparse/SparseSolverBase.hpp"
#include <Eigen/CholmodSupport>
@@ -23,12 +24,6 @@ struct CholmodBaseVisitor
typedef MatrixType CholMatrixType;
typedef typename MatrixType::StorageIndex StorageIndex;
- typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, MatrixType::Options>
- DenseVectorXs;
- typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic,
- MatrixType::Options>
- DenseMatrixXs;
-
template <class PyClass>
void visit(PyClass &cl) const {
cl.def("analyzePattern", &Solver::analyzePattern,
@@ -38,6 +33,7 @@ struct CholmodBaseVisitor
"problems having the same structure.")
.def(EigenBaseVisitor<Solver>())
+ .def(SparseSolverBaseVisitor<Solver>())
.def("compute",
(Solver & (Solver::*)(const MatrixType &matrix)) & Solver::compute,
@@ -70,24 +66,7 @@ struct CholmodBaseVisitor
"are transformed by the following linear model: d_ii = offset + "
"d_ii.\n"
"The default is the identity transformation with offset=0.",
- bp::return_self<>())
-
- .def("solve", &solve<DenseVectorXs>, bp::args("self", "b"),
- "Returns the solution x of A x = b using the current "
- "decomposition of A.")
- .def("solve", &solve<DenseMatrixXs>, bp::args("self", "B"),
- "Returns the solution X of A X = B using the current "
- "decomposition of A where B is a right hand side matrix.")
-
- .def("solve", &solve<MatrixType>, bp::args("self", "B"),
- "Returns the solution X of A X = B using the current "
- "decomposition of A where B is a right hand side matrix.");
- }
-
- private:
- template <typename MatrixOrVector>
- static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
- return self.solve(vec);
+ bp::return_self<>());
}
};