decompositions: add EigenSolver

CMakeLists.txt

@@ -88,6 +88,9 @@ SET(${PROJECT_NAME}_SOLVERS_HEADERS
 
 SET(${PROJECT_NAME}_DECOMPOSITIONS_HEADERS
   include/eigenpy/decompositions/decompositions.hpp
+  include/eigenpy/decompositions/EigenSolver.hpp
+  )
+
 SET(${PROJECT_NAME}_HEADERS
   ${${PROJECT_NAME}_UTILS_HEADERS}
   ${${PROJECT_NAME}_SOLVERS_HEADERS}

include/eigenpy/decompositions/EigenSolver.hpp

+/*
+ * Copyright 2020 INRIA
+ */
+
+#ifndef __eigenpy_decomposition_eigen_solver_hpp__
+#define __eigenpy_decomposition_eigen_solver_hpp__
+
+#include <boost/python.hpp>
+#include <Eigen/Core>
+#include <Eigen/Eigenvalues>
+
+#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
+    {
+      namespace bp = boost::python;
+      cl
+      .def(bp::init<>("Default constructor"))
+      .def(bp::init<Eigen::Index>(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_value_policy<bp::return_by_value>())
+      .def("eigenvectors",&Solver::eigenvectors,bp::arg("self"),
+           "Returns the eigenvectors of given matrix.",
+           bp::return_value_policy<bp::return_by_value>())
+      
+      .def("compute",(Solver & (Solver::*)(const Eigen::EigenBase<MatrixType> & matrix))&Solver::template compute<MatrixType>,
+           bp::args("self","matrix"),
+           "Computes the eigendecomposition of given matrix.",
+           bp::return_value_policy<bp::reference_existing_object>())
+      .def("compute",(Solver & (Solver::*)(const Eigen::EigenBase<MatrixType> & matrix, bool))&Solver::compute,
+           bp::args("self","matrix","compute_eigen_vectors"),
+           "Computes theeigendecomposition of given matrix.",
+           bp::return_value_policy<bp::reference_existing_object>())
+      
+      .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_value_policy<bp::reference_existing_object>())
+      
+      .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_value_policy<bp::return_by_value>())
+      
+      .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)
+    {
+      namespace bp = boost::python;
+      bp::class_<Solver>(name.c_str(),
+                         bp::no_init)
+      .def(EigenSolverVisitor());
+    }
+    
+  };
+  
+} // namespace eigenpy
+
+#endif // ifndef __eigenpy_decomposition_eigen_solver_hpp__
+

src/decompositions/decompositions.cpp

@@ -5,6 +5,7 @@
 #include <boost/python.hpp>
 #include <Eigen/Core>
 
+#include "eigenpy/decompositions/EigenSolver.hpp"
 
 namespace eigenpy
 {
@@ -13,6 +14,7 @@ namespace eigenpy
     using namespace Eigen;
     namespace bp = boost::python;
     
+    EigenSolverVisitor<Eigen::MatrixXd>::expose("EigenSolver");
     
   }
 } // namespace eigenpy