decompositions: start to add common matrix decompositions (LLT, LDLT, QR, etc)

CMakeLists.txt

@@ -86,9 +86,12 @@ SET(${PROJECT_NAME}_SOLVERS_HEADERS
   include/eigenpy/solvers/BFGSPreconditioners.hpp
   )
 
+SET(${PROJECT_NAME}_DECOMPOSITIONS_HEADERS
+  include/eigenpy/decompositions/decompositions.hpp
 SET(${PROJECT_NAME}_HEADERS
   ${${PROJECT_NAME}_UTILS_HEADERS}
   ${${PROJECT_NAME}_SOLVERS_HEADERS}
+  ${${PROJECT_NAME}_DECOMPOSITIONS_HEADERS}
   include/eigenpy/computation-info.hpp
   include/eigenpy/eigenpy.hpp
   include/eigenpy/exception.hpp
@@ -121,8 +124,13 @@ SET(${PROJECT_NAME}_SOLVERS_SOURCES
   src/solvers/solvers.cpp
   )
 
+SET(${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
+  src/decompositions/decompositions.cpp
+  )
+  
 SET(${PROJECT_NAME}_SOURCES
   ${${PROJECT_NAME}_SOLVERS_SOURCES}
+  ${${PROJECT_NAME}_DECOMPOSITIONS_SOURCES}
   src/exception.cpp
   src/eigenpy.cpp
   src/angle-axis.cpp

include/eigenpy/decompositions/decompositions.hpp

+/*
+ * Copyright 2020 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_decompositions_hpp__
+#define __eigenpy_decompositions_decompositions_hpp__
+
+#include "eigenpy/eigenpy_export.h"
+
+namespace eigenpy
+{
+  void EIGENPY_EXPORT exposeDecompositions();
+} // namespace eigenpy
+
+#endif // define __eigenpy_decompositions_decompositions_hpp__

python/main.cpp

@@ -11,6 +11,7 @@
 
 #include "eigenpy/solvers/solvers.hpp"
 #include "eigenpy/solvers/preconditioners.hpp"
+#include "eigenpy/decompositions/decompositions.hpp"
 
 #include <boost/python/scope.hpp>
 

src/decompositions/decompositions.cpp

+/*
+ * Copyright 2020 INRIA
+ */
+
+#include <boost/python.hpp>
+#include <Eigen/Core>
+
+
+namespace eigenpy
+{
+  void exposeDecompositions()
+  {
+    using namespace Eigen;
+    namespace bp = boost::python;
+    
+    
+  }
+} // namespace eigenpy
+
+
+