flake.nix

+{
+  description = "Bindings between Numpy and Eigen using Boost.Python";
+
+  inputs = {
+    flake-parts.url = "github:hercules-ci/flake-parts";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+  };
+
+  outputs =
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+      systems = inputs.nixpkgs.lib.systems.flakeExposed;
+      perSystem =
+        { pkgs, self', ... }:
+        {
+          apps.default = {
+            type = "app";
+            program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+          };
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          packages = {
+            default = self'.packages.eigenpy;
+            eigenpy = pkgs.python3Packages.eigenpy.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./doc
+                  ./include
+                  ./package.xml
+                  ./python
+                  ./src
+                  ./unittest
+                ];
+              };
+            });
+          };
+        };
+    };
+}

include/eigenpy/alignment.hpp

@@ -108,8 +108,8 @@ namespace objects {
 
 // Force alignment of instance with value_holder
 template <typename Derived>
-struct instance<value_holder<Derived> >
-    : ::eigenpy::aligned_instance<value_holder<Derived> > {};
+struct instance<value_holder<Derived>>
+    : ::eigenpy::aligned_instance<value_holder<Derived>> {};
 
 }  // namespace objects
 }  // namespace python

include/eigenpy/angle-axis.hpp

@@ -13,7 +13,7 @@ template <typename AngleAxis>
 class AngleAxisVisitor;
 
 template <typename Scalar>
-struct call<Eigen::AngleAxis<Scalar> > {
+struct call<Eigen::AngleAxis<Scalar>> {
   typedef Eigen::AngleAxis<Scalar> AngleAxis;
 
   static inline void expose() { AngleAxisVisitor<AngleAxis>::expose(); }
@@ -26,7 +26,7 @@ struct call<Eigen::AngleAxis<Scalar> > {
 };
 
 template <typename AngleAxis>
-class AngleAxisVisitor : public bp::def_visitor<AngleAxisVisitor<AngleAxis> > {
+class AngleAxisVisitor : public bp::def_visitor<AngleAxisVisitor<AngleAxis>> {
   typedef typename AngleAxis::Scalar Scalar;
   typedef typename AngleAxis::Vector3 Vector3;
   typedef typename AngleAxis::Matrix3 Matrix3;
@@ -56,7 +56,7 @@ class AngleAxisVisitor : public bp::def_visitor<AngleAxisVisitor<AngleAxis> > {
                               bp::return_internal_reference<>()),
             &AngleAxisVisitor::setAxis, "The rotation axis.")
         .add_property("angle",
-                      (Scalar(AngleAxis::*)() const) & AngleAxis::angle,
+                      (Scalar (AngleAxis::*)() const) & AngleAxis::angle,
                       &AngleAxisVisitor::setAngle, "The rotation angle.")
 
         /* --- Methods --- */
@@ -118,7 +118,8 @@ class AngleAxisVisitor : public bp::def_visitor<AngleAxisVisitor<AngleAxis> > {
   static void expose() {
     bp::class_<AngleAxis>(
         "AngleAxis", "AngleAxis representation of a rotation.\n\n", bp::no_init)
-        .def(AngleAxisVisitor<AngleAxis>());
+        .def(AngleAxisVisitor<AngleAxis>())
+        .def(IdVisitor<AngleAxis>());
 
     // Cast to Eigen::RotationBase
     bp::implicitly_convertible<AngleAxis, RotationBase>();

include/eigenpy/copyable.hpp

@@ -15,7 +15,7 @@ namespace eigenpy {
 /// copy constructor.
 ///
 template <class C>
-struct CopyableVisitor : public bp::def_visitor<CopyableVisitor<C> > {
+struct CopyableVisitor : public bp::def_visitor<CopyableVisitor<C>> {
   template <class PyClass>
   void visit(PyClass& cl) const {
     cl.def("copy", &copy, bp::arg("self"), "Returns a copy of *this.");

include/eigenpy/decompositions/ColPivHouseholderQR.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_col_piv_houselholder_qr_hpp__
+#define __eigenpy_decompositions_col_piv_houselholder_qr_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/utils/scalar-name.hpp"
+
+#include <Eigen/QR>
+
+namespace eigenpy {
+
+template <typename _MatrixType>
+struct ColPivHouseholderQRSolverVisitor
+    : public boost::python::def_visitor<
+          ColPivHouseholderQRSolverVisitor<_MatrixType>> {
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, MatrixType::Options>
+      VectorXs;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic,
+                        MatrixType::Options>
+      MatrixXs;
+  typedef Eigen::ColPivHouseholderQR<MatrixType> Solver;
+  typedef Solver Self;
+
+  template <class PyClass>
+  void visit(PyClass &cl) const {
+    cl.def(bp::init<>(bp::arg("self"),
+                      "Default constructor.\n"
+                      "The default constructor is useful in cases in which the "
+                      "user intends to perform decompositions via "
+                      "HouseholderQR.compute(matrix)"))
+        .def(bp::init<Eigen::DenseIndex, Eigen::DenseIndex>(
+            bp::args("self", "rows", "cols"),
+            "Default constructor with memory preallocation.\n"
+            "Like the default constructor but with preallocation of the "
+            "internal data according to the specified problem size. "))
+        .def(bp::init<MatrixType>(
+            bp::args("self", "matrix"),
+            "Constructs a QR factorization from a given matrix.\n"
+            "This constructor computes the QR factorization of the matrix "
+            "matrix by calling the method compute()."))
+
+        .def("absDeterminant", &Self::absDeterminant, bp::arg("self"),
+             "Returns the absolute value of the determinant of the matrix of "
+             "which *this is the QR decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the QR decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices.")
+        .def("logAbsDeterminant", &Self::logAbsDeterminant, bp::arg("self"),
+             "Returns the natural log of the absolute value of the determinant "
+             "of the matrix of which *this is the QR decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the QR decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices. This method is useful to "
+             "work around the risk of overflow/underflow that's inherent to "
+             "determinant computation.")
+        .def("dimensionOfKernel", &Self::dimensionOfKernel, bp::arg("self"),
+             "Returns the dimension of the kernel of the matrix of which *this "
+             "is the QR decomposition.")
+        .def("info", &Self::info, bp::arg("self"),
+             "Reports whether the QR factorization was successful.\n"
+             "Note: This function always returns Success. It is provided for "
+             "compatibility with other factorization routines.")
+        .def("isInjective", &Self::isInjective, bp::arg("self"),
+             "Returns true if the matrix associated with this QR decomposition "
+             "represents an injective linear map, i.e. has trivial kernel; "
+             "false otherwise.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("isInvertible", &Self::isInvertible, bp::arg("self"),
+             "Returns true if the matrix associated with the QR decomposition "
+             "is invertible.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("isSurjective", &Self::isSurjective, bp::arg("self"),
+             "Returns true if the matrix associated with this QR decomposition "
+             "represents a surjective linear map; false otherwise.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("maxPivot", &Self::maxPivot, bp::arg("self"),
+             "Returns the absolute value of the biggest pivot, i.e. the "
+             "biggest diagonal coefficient of U.")
+        .def("nonzeroPivots", &Self::nonzeroPivots, bp::arg("self"),
+             "Returns the number of nonzero pivots in the QR decomposition. "
+             "Here nonzero is meant in the exact sense, not in a fuzzy sense. "
+             "So that notion isn't really intrinsically interesting, but it is "
+             "still useful when implementing algorithms.")
+        .def("rank", &Self::rank, bp::arg("self"),
+             "Returns the rank of the matrix associated with the QR "
+             "decomposition.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+
+        .def("setThreshold",
+             (Self & (Self::*)(const RealScalar &)) & Self::setThreshold,
+             bp::args("self", "threshold"),
+             "Allows to prescribe a threshold to be used by certain methods, "
+             "such as rank(), who need to determine when pivots are to be "
+             "considered nonzero. This is not used for the QR decomposition "
+             "itself.\n"
+             "\n"
+             "When it needs to get the threshold value, Eigen calls "
+             "threshold(). By default, this uses a formula to automatically "
+             "determine a reasonable threshold. Once you have called the "
+             "present method setThreshold(const RealScalar&), your value is "
+             "used instead.\n"
+             "\n"
+             "Note: A pivot will be considered nonzero if its absolute value "
+             "is strictly greater than |pivot| ⩽ threshold×|maxpivot| where "
+             "maxpivot is the biggest pivot.",
+             bp::return_self<>())
+        .def("threshold", &Self::threshold, bp::arg("self"),
+             "Returns the threshold that will be used by certain methods such "
+             "as rank().")
+
+        .def("matrixQR", &Self::matrixQR, bp::arg("self"),
+             "Returns the matrix where the Householder QR decomposition is "
+             "stored in a LAPACK-compatible way.",
+             bp::return_value_policy<bp::copy_const_reference>())
+        .def("matrixR", &Self::matrixR, bp::arg("self"),
+             "Returns the matrix where the result Householder QR is stored.",
+             bp::return_value_policy<bp::copy_const_reference>())
+
+        .def(
+            "compute",
+            (Solver & (Solver::*)(const Eigen::EigenBase<MatrixType> &matrix)) &
+                Solver::compute,
+            bp::args("self", "matrix"),
+            "Computes the QR factorization of given matrix.",
+            bp::return_self<>())
+
+        .def("inverse", inverse, bp::arg("self"),
+             "Returns the inverse of the matrix associated with the QR "
+             "decomposition..")
+
+        .def("solve", &solve<MatrixXs>, 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.");
+  }
+
+  static void expose() {
+    static const std::string classname =
+        "ColPivHouseholderQR" + scalar_name<Scalar>::shortname();
+    expose(classname);
+  }
+
+  static void expose(const std::string &name) {
+    bp::class_<Solver>(
+        name.c_str(),
+        "This class performs a rank-revealing QR decomposition of a matrix A "
+        "into matrices P, Q and R such that:\n"
+        "AP=QR\n"
+        "by using Householder transformations. Here, P is a permutation "
+        "matrix, Q a unitary matrix and R an upper triangular matrix.\n"
+        "\n"
+        "This decomposition performs column pivoting in order to be "
+        "rank-revealing and improve numerical stability. It is slower than "
+        "HouseholderQR, and faster than FullPivHouseholderQR.",
+        bp::no_init)
+        .def(ColPivHouseholderQRSolverVisitor())
+        .def(IdVisitor<Solver>());
+  }
+
+ private:
+  template <typename MatrixOrVector>
+  static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
+    return self.solve(vec);
+  }
+  static MatrixXs inverse(const Self &self) { return self.inverse(); }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_decompositions_col_piv_houselholder_qr_hpp__

include/eigenpy/decompositions/CompleteOrthogonalDecomposition.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_complete_orthogonal_decomposition_hpp__
+#define __eigenpy_decompositions_complete_orthogonal_decomposition_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/utils/scalar-name.hpp"
+
+#include <Eigen/QR>
+
+namespace eigenpy {
+
+template <typename _MatrixType>
+struct CompleteOrthogonalDecompositionSolverVisitor
+    : public boost::python::def_visitor<
+          CompleteOrthogonalDecompositionSolverVisitor<_MatrixType>> {
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, MatrixType::Options>
+      VectorXs;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic,
+                        MatrixType::Options>
+      MatrixXs;
+  typedef Eigen::CompleteOrthogonalDecomposition<MatrixType> Solver;
+  typedef Solver Self;
+
+  template <class PyClass>
+  void visit(PyClass &cl) const {
+    cl.def(bp::init<>(bp::arg("self"),
+                      "Default constructor.\n"
+                      "The default constructor is useful in cases in which the "
+                      "user intends to perform decompositions via "
+                      "CompleteOrthogonalDecomposition.compute(matrix)"))
+        .def(bp::init<Eigen::DenseIndex, Eigen::DenseIndex>(
+            bp::args("self", "rows", "cols"),
+            "Default constructor with memory preallocation.\n"
+            "Like the default constructor but with preallocation of the "
+            "internal data according to the specified problem size. "))
+        .def(bp::init<MatrixType>(bp::args("self", "matrix"),
+                                  "Constructs a complete orthogonal "
+                                  "factorization from a given matrix.\n"
+                                  "This constructor computes the complete "
+                                  "orthogonal factorization of the matrix "
+                                  "matrix by calling the method compute()."))
+
+        .def("absDeterminant", &Self::absDeterminant, bp::arg("self"),
+             "Returns the absolute value of the determinant of the matrix "
+             "associated with the complete orthogonal decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the complete orthogonal "
+             "decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices.")
+        .def("logAbsDeterminant", &Self::logAbsDeterminant, bp::arg("self"),
+             "Returns the natural log of the absolute value of the determinant "
+             "of the matrix of which *this is the complete orthogonal "
+             "decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the complete orthogonal "
+             "decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices. This method is useful to "
+             "work around the risk of overflow/underflow that's inherent to "
+             "determinant computation.")
+        .def("dimensionOfKernel", &Self::dimensionOfKernel, bp::arg("self"),
+             "Returns the dimension of the kernel of the matrix of which *this "
+             "is the complete orthogonal decomposition.")
+        .def("info", &Self::info, bp::arg("self"),
+             "Reports whether the complete orthogonal factorization was "
+             "successful.\n"
+             "Note: This function always returns Success. It is provided for "
+             "compatibility with other factorization routines.")
+        .def("isInjective", &Self::isInjective, bp::arg("self"),
+             "Returns true if the matrix associated with this complete "
+             "orthogonal decomposition "
+             "represents an injective linear map, i.e. has trivial kernel; "
+             "false otherwise.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("isInvertible", &Self::isInvertible, bp::arg("self"),
+             "Returns true if the matrix associated with the complete "
+             "orthogonal decomposition "
+             "is invertible.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("isSurjective", &Self::isSurjective, bp::arg("self"),
+             "Returns true if the matrix associated with this complete "
+             "orthogonal decomposition "
+             "represents a surjective linear map; false otherwise.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("maxPivot", &Self::maxPivot, bp::arg("self"),
+             "Returns the absolute value of the biggest pivot, i.e. the "
+             "biggest diagonal coefficient of U.")
+        .def("nonzeroPivots", &Self::nonzeroPivots, bp::arg("self"),
+             "Returns the number of nonzero pivots in the complete orthogonal "
+             "decomposition. "
+             "Here nonzero is meant in the exact sense, not in a fuzzy sense. "
+             "So that notion isn't really intrinsically interesting, but it is "
+             "still useful when implementing algorithms.")
+        .def("rank", &Self::rank, bp::arg("self"),
+             "Returns the rank of the matrix associated with the complete "
+             "orthogonal "
+             "decomposition.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+
+        .def("setThreshold",
+             (Self & (Self::*)(const RealScalar &)) & Self::setThreshold,
+             bp::args("self", "threshold"),
+             "Allows to prescribe a threshold to be used by certain methods, "
+             "such as rank(), who need to determine when pivots are to be "
+             "considered nonzero. This is not used for the complete orthogonal "
+             "decomposition "
+             "itself.\n"
+             "\n"
+             "When it needs to get the threshold value, Eigen calls "
+             "threshold(). By default, this uses a formula to automatically "
+             "determine a reasonable threshold. Once you have called the "
+             "present method setThreshold(const RealScalar&), your value is "
+             "used instead.\n"
+             "\n"
+             "Note: A pivot will be considered nonzero if its absolute value "
+             "is strictly greater than |pivot| ⩽ threshold×|maxpivot| where "
+             "maxpivot is the biggest pivot.",
+             bp::return_self<>())
+        .def("threshold", &Self::threshold, bp::arg("self"),
+             "Returns the threshold that will be used by certain methods such "
+             "as rank().")
+
+        .def("matrixQTZ", &Self::matrixQTZ, bp::arg("self"),
+             "Returns the matrix where the complete orthogonal decomposition "
+             "is stored.",
+             bp::return_value_policy<bp::copy_const_reference>())
+        .def("matrixT", &Self::matrixT, bp::arg("self"),
+             "Returns the matrix where the complete orthogonal decomposition "
+             "is stored.",
+             bp::return_value_policy<bp::copy_const_reference>())
+        .def("matrixZ", &Self::matrixZ, bp::arg("self"),
+             "Returns the matrix Z.")
+
+        .def(
+            "compute",
+            (Solver & (Solver::*)(const Eigen::EigenBase<MatrixType> &matrix)) &
+                Solver::compute,
+            bp::args("self", "matrix"),
+            "Computes the complete orthogonal factorization of given matrix.",
+            bp::return_self<>())
+
+        .def("pseudoInverse", pseudoInverse, bp::arg("self"),
+             "Returns the pseudo-inverse of the matrix associated with the "
+             "complete orthogonal "
+             "decomposition.")
+
+        .def("solve", &solve<MatrixXs>, 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.");
+  }
+
+  static void expose() {
+    static const std::string classname =
+        "CompleteOrthogonalDecomposition" + scalar_name<Scalar>::shortname();
+    expose(classname);
+  }
+
+  static void expose(const std::string &name) {
+    bp::class_<Solver>(
+        name.c_str(),
+        "This class performs a rank-revealing complete orthogonal "
+        "decomposition of a matrix A into matrices P, Q, T, and Z such that:\n"
+        "AP=Q[T000]Z"
+        "by using Householder transformations. Here, P is a permutation "
+        "matrix, Q and Z are unitary matrices and T an upper triangular matrix "
+        "of size rank-by-rank. A may be rank deficient.",
+        bp::no_init)
+        .def(CompleteOrthogonalDecompositionSolverVisitor())
+        .def(IdVisitor<Solver>());
+  }
+
+ private:
+  template <typename MatrixOrVector>
+  static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
+    return self.solve(vec);
+  }
+  static MatrixXs pseudoInverse(const Self &self) {
+    return self.pseudoInverse();
+  }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef
+        // __eigenpy_decompositions_complete_orthogonal_decomposition_hpp__

include/eigenpy/decompositions/EigenSolver.hpp

@@ -2,8 +2,8 @@
  * Copyright 2020 INRIA
  */
 
-#ifndef __eigenpy_decomposition_eigen_solver_hpp__
-#define __eigenpy_decomposition_eigen_solver_hpp__
+#ifndef __eigenpy_decompositions_eigen_solver_hpp__
+#define __eigenpy_decompositions_eigen_solver_hpp__
 
 #include <Eigen/Core>
 #include <Eigen/Eigenvalues>
@@ -16,7 +16,7 @@ namespace eigenpy {
 
 template <typename _MatrixType>
 struct EigenSolverVisitor
-    : public boost::python::def_visitor<EigenSolverVisitor<_MatrixType> > {
+    : public boost::python::def_visitor<EigenSolverVisitor<_MatrixType>> {
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
   typedef Eigen::EigenSolver<MatrixType> Solver;
@@ -26,7 +26,7 @@ struct EigenSolverVisitor
     cl.def(bp::init<>("Default constructor"))
         .def(bp::init<Eigen::DenseIndex>(
             bp::arg("size"), "Default constructor with memory preallocation"))
-        .def(bp::init<MatrixType, bp::optional<bool> >(
+        .def(bp::init<MatrixType, bp::optional<bool>>(
             bp::args("matrix", "compute_eigen_vectors"),
             "Computes eigendecomposition of given matrix"))
 
@@ -75,7 +75,9 @@ struct EigenSolverVisitor
   }
 
   static void expose(const std::string& name) {
-    bp::class_<Solver>(name.c_str(), bp::no_init).def(EigenSolverVisitor());
+    bp::class_<Solver>(name.c_str(), bp::no_init)
+        .def(EigenSolverVisitor())
+        .def(IdVisitor<Solver>());
   }
 
  private:
@@ -88,4 +90,4 @@ struct EigenSolverVisitor
 
 }  // namespace eigenpy
 
-#endif  // ifndef __eigenpy_decomposition_eigen_solver_hpp__
+#endif  // ifndef __eigenpy_decompositions_eigen_solver_hpp__

include/eigenpy/decompositions/FullPivHouseholderQR.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_full_piv_houselholder_qr_hpp__
+#define __eigenpy_decompositions_full_piv_houselholder_qr_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/utils/scalar-name.hpp"
+
+#include <Eigen/QR>
+
+namespace eigenpy {
+
+template <typename _MatrixType>
+struct FullPivHouseholderQRSolverVisitor
+    : public boost::python::def_visitor<
+          FullPivHouseholderQRSolverVisitor<_MatrixType>> {
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, MatrixType::Options>
+      VectorXs;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic,
+                        MatrixType::Options>
+      MatrixXs;
+  typedef Eigen::FullPivHouseholderQR<MatrixType> Solver;
+  typedef Solver Self;
+
+  template <class PyClass>
+  void visit(PyClass &cl) const {
+    cl.def(bp::init<>(bp::arg("self"),
+                      "Default constructor.\n"
+                      "The default constructor is useful in cases in which the "
+                      "user intends to perform decompositions via "
+                      "HouseholderQR.compute(matrix)"))
+        .def(bp::init<Eigen::DenseIndex, Eigen::DenseIndex>(
+            bp::args("self", "rows", "cols"),
+            "Default constructor with memory preallocation.\n"
+            "Like the default constructor but with preallocation of the "
+            "internal data according to the specified problem size. "))
+        .def(bp::init<MatrixType>(
+            bp::args("self", "matrix"),
+            "Constructs a QR factorization from a given matrix.\n"
+            "This constructor computes the QR factorization of the matrix "
+            "matrix by calling the method compute()."))
+
+        .def("absDeterminant", &Self::absDeterminant, bp::arg("self"),
+             "Returns the absolute value of the determinant of the matrix of "
+             "which *this is the QR decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the QR decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices.")
+        .def("logAbsDeterminant", &Self::logAbsDeterminant, bp::arg("self"),
+             "Returns the natural log of the absolute value of the determinant "
+             "of the matrix of which *this is the QR decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the QR decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices. This method is useful to "
+             "work around the risk of overflow/underflow that's inherent to "
+             "determinant computation.")
+        .def("dimensionOfKernel", &Self::dimensionOfKernel, bp::arg("self"),
+             "Returns the dimension of the kernel of the matrix of which *this "
+             "is the QR decomposition.")
+        .def("isInjective", &Self::isInjective, bp::arg("self"),
+             "Returns true if the matrix associated with this QR decomposition "
+             "represents an injective linear map, i.e. has trivial kernel; "
+             "false otherwise.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("isInvertible", &Self::isInvertible, bp::arg("self"),
+             "Returns true if the matrix associated with the QR decomposition "
+             "is invertible.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("isSurjective", &Self::isSurjective, bp::arg("self"),
+             "Returns true if the matrix associated with this QR decomposition "
+             "represents a surjective linear map; false otherwise.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+        .def("maxPivot", &Self::maxPivot, bp::arg("self"),
+             "Returns the absolute value of the biggest pivot, i.e. the "
+             "biggest diagonal coefficient of U.")
+        .def("nonzeroPivots", &Self::nonzeroPivots, bp::arg("self"),
+             "Returns the number of nonzero pivots in the QR decomposition. "
+             "Here nonzero is meant in the exact sense, not in a fuzzy sense. "
+             "So that notion isn't really intrinsically interesting, but it is "
+             "still useful when implementing algorithms.")
+        .def("rank", &Self::rank, bp::arg("self"),
+             "Returns the rank of the matrix associated with the QR "
+             "decomposition.\n"
+             "\n"
+             "Note: This method has to determine which pivots should be "
+             "considered nonzero. For that, it uses the threshold value that "
+             "you can control by calling setThreshold(threshold).")
+
+        .def("setThreshold",
+             (Self & (Self::*)(const RealScalar &)) & Self::setThreshold,
+             bp::args("self", "threshold"),
+             "Allows to prescribe a threshold to be used by certain methods, "
+             "such as rank(), who need to determine when pivots are to be "
+             "considered nonzero. This is not used for the QR decomposition "
+             "itself.\n"
+             "\n"
+             "When it needs to get the threshold value, Eigen calls "
+             "threshold(). By default, this uses a formula to automatically "
+             "determine a reasonable threshold. Once you have called the "
+             "present method setThreshold(const RealScalar&), your value is "
+             "used instead.\n"
+             "\n"
+             "Note: A pivot will be considered nonzero if its absolute value "
+             "is strictly greater than |pivot| ⩽ threshold×|maxpivot| where "
+             "maxpivot is the biggest pivot.",
+             bp::return_self<>())
+        .def("threshold", &Self::threshold, bp::arg("self"),
+             "Returns the threshold that will be used by certain methods such "
+             "as rank().")
+
+        .def("matrixQR", &Self::matrixQR, bp::arg("self"),
+             "Returns the matrix where the Householder QR decomposition is "
+             "stored in a LAPACK-compatible way.",
+             bp::return_value_policy<bp::copy_const_reference>())
+
+        .def(
+            "compute",
+            (Solver & (Solver::*)(const Eigen::EigenBase<MatrixType> &matrix)) &
+                Solver::compute,
+            bp::args("self", "matrix"),
+            "Computes the QR factorization of given matrix.",
+            bp::return_self<>())
+
+        .def("inverse", inverse, bp::arg("self"),
+             "Returns the inverse of the matrix associated with the QR "
+             "decomposition..")
+
+        .def("solve", &solve<MatrixXs>, 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.");
+  }
+
+  static void expose() {
+    static const std::string classname =
+        "FullPivHouseholderQR" + scalar_name<Scalar>::shortname();
+    expose(classname);
+  }
+
+  static void expose(const std::string &name) {
+    bp::class_<Solver>(
+        name.c_str(),
+        "This class performs a rank-revealing QR decomposition of a matrix A "
+        "into matrices P, P', Q and R such that:\n"
+        "PAP′=QR\n"
+        "by using Householder transformations. Here, P and P' are permutation "
+        "matrices, Q a unitary matrix and R an upper triangular matrix.\n"
+        "\n"
+        "This decomposition performs a very prudent full pivoting in order to "
+        "be rank-revealing and achieve optimal numerical stability. The "
+        "trade-off is that it is slower than HouseholderQR and "
+        "ColPivHouseholderQR.",
+        bp::no_init)
+        .def(FullPivHouseholderQRSolverVisitor())
+        .def(IdVisitor<Solver>());
+  }
+
+ private:
+  template <typename MatrixOrVector>
+  static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
+    return self.solve(vec);
+  }
+  static MatrixXs inverse(const Self &self) { return self.inverse(); }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_decompositions_full_piv_houselholder_qr_hpp__

include/eigenpy/decompositions/HouseholderQR.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_houselholder_qr_hpp__
+#define __eigenpy_decompositions_houselholder_qr_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/utils/scalar-name.hpp"
+
+#include <Eigen/QR>
+
+namespace eigenpy {
+
+template <typename _MatrixType>
+struct HouseholderQRSolverVisitor
+    : public boost::python::def_visitor<
+          HouseholderQRSolverVisitor<_MatrixType>> {
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, MatrixType::Options>
+      VectorXs;
+  typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic,
+                        MatrixType::Options>
+      MatrixXs;
+  typedef Eigen::HouseholderQR<MatrixType> Solver;
+  typedef Solver Self;
+
+  template <class PyClass>
+  void visit(PyClass &cl) const {
+    cl.def(bp::init<>(bp::arg("self"),
+                      "Default constructor.\n"
+                      "The default constructor is useful in cases in which the "
+                      "user intends to perform decompositions via "
+                      "HouseholderQR.compute(matrix)"))
+        .def(bp::init<Eigen::DenseIndex, Eigen::DenseIndex>(
+            bp::args("self", "rows", "cols"),
+            "Default constructor with memory preallocation.\n"
+            "Like the default constructor but with preallocation of the "
+            "internal data according to the specified problem size. "))
+        .def(bp::init<MatrixType>(
+            bp::args("self", "matrix"),
+            "Constructs a QR factorization from a given matrix.\n"
+            "This constructor computes the QR factorization of the matrix "
+            "matrix by calling the method compute()."))
+
+        .def("absDeterminant", &Self::absDeterminant, bp::arg("self"),
+             "Returns the absolute value of the determinant of the matrix of "
+             "which *this is the QR decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the QR decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices.")
+        .def("logAbsDeterminant", &Self::logAbsDeterminant, bp::arg("self"),
+             "Returns the natural log of the absolute value of the determinant "
+             "of the matrix of which *this is the QR decomposition.\n"
+             "It has only linear complexity (that is, O(n) where n is the "
+             "dimension of the square matrix) as the QR decomposition has "
+             "already been computed.\n"
+             "Note: This is only for square matrices. This method is useful to "
+             "work around the risk of overflow/underflow that's inherent to "
+             "determinant computation.")
+
+        .def("matrixQR", &Self::matrixQR, bp::arg("self"),
+             "Returns the matrix where the Householder QR decomposition is "
+             "stored in a LAPACK-compatible way.",
+             bp::return_value_policy<bp::copy_const_reference>())
+
+        .def(
+            "compute",
+            (Solver & (Solver::*)(const Eigen::EigenBase<MatrixType> &matrix)) &
+                Solver::compute,
+            bp::args("self", "matrix"),
+            "Computes the QR factorization of given matrix.",
+            bp::return_self<>())
+
+        .def("solve", &solve<MatrixXs>, 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.");
+  }
+
+  static void expose() {
+    static const std::string classname =
+        "HouseholderQR" + scalar_name<Scalar>::shortname();
+    expose(classname);
+  }
+
+  static void expose(const std::string &name) {
+    bp::class_<Solver>(
+        name.c_str(),
+        "This class performs a QR decomposition of a matrix A into matrices Q "
+        "and R such that A=QR by using Householder transformations.\n"
+        "Here, Q a unitary matrix and R an upper triangular matrix. The result "
+        "is stored in a compact way compatible with LAPACK.\n"
+        "\n"
+        "Note that no pivoting is performed. This is not a rank-revealing "
+        "decomposition. If you want that feature, use FullPivHouseholderQR or "
+        "ColPivHouseholderQR instead.\n"
+        "\n"
+        "This Householder QR decomposition is faster, but less numerically "
+        "stable and less feature-full than FullPivHouseholderQR or "
+        "ColPivHouseholderQR.",
+        bp::no_init)
+        .def(HouseholderQRSolverVisitor())
+        .def(IdVisitor<Solver>());
+  }
+
+ private:
+  template <typename MatrixOrVector>
+  static MatrixOrVector solve(const Solver &self, const MatrixOrVector &vec) {
+    return self.solve(vec);
+  }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_decompositions_houselholder_qr_hpp__

include/eigenpy/decompositions/LDLT.hpp

 /*
- * Copyright 2020-2021 INRIA
+ * Copyright 2020-2024 INRIA
  */
 
-#ifndef __eigenpy_decomposition_ldlt_hpp__
-#define __eigenpy_decomposition_ldlt_hpp__
+#ifndef __eigenpy_decompositions_ldlt_hpp__
+#define __eigenpy_decompositions_ldlt_hpp__
 
 #include <Eigen/Cholesky>
 #include <Eigen/Core>
 
 #include "eigenpy/eigenpy.hpp"
 #include "eigenpy/utils/scalar-name.hpp"
+#include "eigenpy/eigen/EigenBase.hpp"
 
 namespace eigenpy {
 
 template <typename _MatrixType>
 struct LDLTSolverVisitor
-    : public boost::python::def_visitor<LDLTSolverVisitor<_MatrixType> > {
+    : public boost::python::def_visitor<LDLTSolverVisitor<_MatrixType>> {
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
@@ -36,6 +37,8 @@ struct LDLTSolverVisitor
             bp::args("self", "matrix"),
             "Constructs a LDLT factorization from a given matrix."))
 
+        .def(EigenBaseVisitor<Solver>())
+
         .def("isNegative", &Solver::isNegative, bp::arg("self"),
              "Returns true if the matrix is negative (semidefinite).")
         .def("isPositive", &Solver::isPositive, bp::arg("self"),
@@ -116,6 +119,7 @@ struct LDLTSolverVisitor
         "have zeros in the bottom right rank(A) - n submatrix. Avoiding the "
         "square root on D also stabilizes the computation.",
         bp::no_init)
+        .def(IdVisitor<Solver>())
         .def(LDLTSolverVisitor());
   }
 
@@ -137,4 +141,4 @@ struct LDLTSolverVisitor
 
 }  // namespace eigenpy
 
-#endif  // ifndef __eigenpy_decomposition_ldlt_hpp__
+#endif  // ifndef __eigenpy_decompositions_ldlt_hpp__

include/eigenpy/decompositions/LLT.hpp

 /*
- * Copyright 2020-2021 INRIA
+ * Copyright 2020-2024 INRIA
  */
 
-#ifndef __eigenpy_decomposition_llt_hpp__
-#define __eigenpy_decomposition_llt_hpp__
+#ifndef __eigenpy_decompositions_llt_hpp__
+#define __eigenpy_decompositions_llt_hpp__
 
 #include <Eigen/Cholesky>
 #include <Eigen/Core>
 
 #include "eigenpy/eigenpy.hpp"
 #include "eigenpy/utils/scalar-name.hpp"
+#include "eigenpy/eigen/EigenBase.hpp"
 
 namespace eigenpy {
 
 template <typename _MatrixType>
 struct LLTSolverVisitor
-    : public boost::python::def_visitor<LLTSolverVisitor<_MatrixType> > {
+    : public boost::python::def_visitor<LLTSolverVisitor<_MatrixType>> {
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
@@ -36,6 +37,8 @@ struct LLTSolverVisitor
             bp::args("self", "matrix"),
             "Constructs a LLT factorization from a given matrix."))
 
+        .def(EigenBaseVisitor<Solver>())
+
         .def("matrixL", &matrixL, bp::arg("self"),
              "Returns the lower triangular matrix L.")
         .def("matrixU", &matrixU, bp::arg("self"),
@@ -51,8 +54,9 @@ struct LLTSolverVisitor
              bp::args("self", "vector", "sigma"), bp::return_self<>())
 #else
         .def("rankUpdate",
-             (Solver(Solver::*)(const VectorXs &, const RealScalar &)) &
-                 Solver::template rankUpdate<VectorXs>,
+             (Solver (Solver::*)(
+                 const VectorXs &,
+                 const RealScalar &))&Solver::template rankUpdate<VectorXs>,
              bp::args("self", "vector", "sigma"))
 #endif
 
@@ -112,6 +116,7 @@ struct LLTSolverVisitor
         "remains useful in many other situations like generalised eigen "
         "problems with hermitian matrices.",
         bp::no_init)
+        .def(IdVisitor<Solver>())
         .def(LLTSolverVisitor());
   }
 
@@ -127,4 +132,4 @@ struct LLTSolverVisitor
 
 }  // namespace eigenpy
 
-#endif  // ifndef __eigenpy_decomposition_llt_hpp__
+#endif  // ifndef __eigenpy_decompositions_llt_hpp__

include/eigenpy/decompositions/PermutationMatrix.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_permutation_matrix_hpp__
+#define __eigenpy_decompositions_permutation_matrix_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/eigen/EigenBase.hpp"
+
+namespace eigenpy {
+
+template <int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime,
+          typename StorageIndex_ = int>
+struct PermutationMatrixVisitor
+    : public boost::python::def_visitor<PermutationMatrixVisitor<
+          SizeAtCompileTime, MaxSizeAtCompileTime, StorageIndex_>> {
+  typedef StorageIndex_ StorageIndex;
+  typedef Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime,
+                                   StorageIndex>
+      PermutationMatrix;
+  typedef typename PermutationMatrix::DenseMatrixType DenseMatrixType;
+  typedef PermutationMatrix Self;
+  typedef Eigen::Matrix<StorageIndex, SizeAtCompileTime, 1, 0,
+                        MaxSizeAtCompileTime, 1>
+      VectorIndex;
+
+  template <class PyClass>
+  void visit(PyClass &cl) const {
+    cl.def(bp::init<const Eigen::DenseIndex>(bp::args("self", "size"),
+                                             "Default constructor"))
+        .def(bp::init<VectorIndex>(
+            bp::args("self", "indices"),
+            "The indices array has the meaning that the permutations sends "
+            "each integer i to indices[i].\n"
+            "It is your responsibility to check that the indices array that "
+            "you passes actually describes a permutation, i.e., each value "
+            "between 0 and n-1 occurs exactly once, where n is the array's "
+            "size."))
+
+        .def(
+            "indices",
+            +[](const PermutationMatrix &self) {
+              return VectorIndex(self.indices());
+            },
+            bp::arg("self"), "The stored array representing the permutation.")
+
+        .def("applyTranspositionOnTheLeft",
+             &PermutationMatrix::applyTranspositionOnTheLeft,
+             bp::args("self", "i", "j"),
+             "Multiplies self by the transposition (ij) on the left.",
+             bp::return_self<>())
+        .def("applyTranspositionOnTheRight",
+             &PermutationMatrix::applyTranspositionOnTheRight,
+             bp::args("self", "i", "j"),
+             "Multiplies self by the transposition (ij) on the right.",
+             bp::return_self<>())
+
+        .def("setIdentity",
+             (void (PermutationMatrix::*)())&PermutationMatrix::setIdentity,
+             bp::arg("self"),
+             "Sets self to be the identity permutation matrix.")
+        .def("setIdentity",
+             (void (PermutationMatrix::*)(
+                 Eigen::DenseIndex))&PermutationMatrix::setIdentity,
+             bp::args("self", "size"),
+             "Sets self to be the identity permutation matrix of given size.")
+
+        .def("toDenseMatrix", &PermutationMatrix::toDenseMatrix,
+             bp::arg("self"),
+             "Returns a numpy array object initialized from this permutation "
+             "matrix.")
+
+        .def(
+            "transpose",
+            +[](const PermutationMatrix &self) -> PermutationMatrix {
+              return self.transpose();
+            },
+            bp::arg("self"), "Returns the tranpose permutation matrix.")
+        .def(
+            "inverse",
+            +[](const PermutationMatrix &self) -> PermutationMatrix {
+              return self.inverse();
+            },
+            bp::arg("self"), "Returns the inverse permutation matrix.")
+
+        .def("resize", &PermutationMatrix::resize, bp::args("self", "size"),
+             "Resizes to given size.")
+
+        .def(bp::self * bp::self)
+        .def(EigenBaseVisitor<Self>());
+  }
+
+  static void expose(const std::string &name) {
+    bp::class_<PermutationMatrix>(name.c_str(),
+                                  "Permutation matrix.\n"
+                                  "This class represents a permutation matrix, "
+                                  "internally stored as a vector of integers.",
+                                  bp::no_init)
+        .def(IdVisitor<PermutationMatrix>())
+        .def(PermutationMatrixVisitor());
+  }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_decompositions_permutation_matrix_hpp__

include/eigenpy/decompositions/QR.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_qr_hpp__
+#define __eigenpy_decompositions_qr_hpp__
+
+#include "eigenpy/decompositions/HouseholderQR.hpp"
+#include "eigenpy/decompositions/FullPivHouseholderQR.hpp"
+#include "eigenpy/decompositions/ColPivHouseholderQR.hpp"
+#include "eigenpy/decompositions/CompleteOrthogonalDecomposition.hpp"
+
+#endif  // ifndef __eigenpy_decompositions_qr_hpp__

include/eigenpy/decompositions/SelfAdjointEigenSolver.hpp

 /*
- * Copyright 2020 INRIA
+ * Copyright 2020-2024 INRIA
  */
 
-#ifndef __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__
-#define __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__
+#ifndef __eigenpy_decompositions_self_adjoint_eigen_solver_hpp__
+#define __eigenpy_decompositions_self_adjoint_eigen_solver_hpp__
 
 #include <Eigen/Core>
 #include <Eigen/Eigenvalues>
@@ -17,7 +17,7 @@ namespace eigenpy {
 template <typename _MatrixType>
 struct SelfAdjointEigenSolverVisitor
     : public boost::python::def_visitor<
-          SelfAdjointEigenSolverVisitor<_MatrixType> > {
+          SelfAdjointEigenSolverVisitor<_MatrixType>> {
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
   typedef Eigen::SelfAdjointEigenSolver<MatrixType> Solver;
@@ -28,7 +28,7 @@ struct SelfAdjointEigenSolverVisitor
         .def(bp::init<Eigen::DenseIndex>(
             bp::args("self", "size"),
             "Default constructor with memory preallocation"))
-        .def(bp::init<MatrixType, bp::optional<int> >(
+        .def(bp::init<MatrixType, bp::optional<int>>(
             bp::args("self", "matrix", "options"),
             "Computes eigendecomposition of given matrix"))
 
@@ -84,6 +84,7 @@ struct SelfAdjointEigenSolverVisitor
 
   static void expose(const std::string& name) {
     bp::class_<Solver>(name.c_str(), bp::no_init)
+        .def(IdVisitor<Solver>())
         .def(SelfAdjointEigenSolverVisitor());
   }
 
@@ -101,4 +102,4 @@ struct SelfAdjointEigenSolverVisitor
 
 }  // namespace eigenpy
 
-#endif  // ifndef __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__
+#endif  // ifndef __eigenpy_decompositions_self_adjoint_eigen_solver_hpp__

include/eigenpy/decompositions/decompositions.hpp

@@ -9,6 +9,15 @@
 
 namespace eigenpy {
 void EIGENPY_DLLAPI exposeDecompositions();
+
+#ifdef EIGENPY_WITH_CHOLMOD_SUPPORT
+void EIGENPY_DLLAPI exposeCholmod();
+#endif
+
+#ifdef EIGENPY_WITH_ACCELERATE_SUPPORT
+void EIGENPY_DLLAPI exposeAccelerate();
+#endif
+
 }  // namespace eigenpy
 
 #endif  // define __eigenpy_decompositions_decompositions_hpp__

include/eigenpy/decompositions/minres.hpp

@@ -2,8 +2,8 @@
  * Copyright 2021 INRIA
  */
 
-#ifndef __eigenpy_decomposition_minres_hpp__
-#define __eigenpy_decomposition_minres_hpp__
+#ifndef __eigenpy_decompositions_minres_hpp__
+#define __eigenpy_decompositions_minres_hpp__
 
 #include <Eigen/Core>
 #include <iostream>
@@ -15,7 +15,7 @@
 namespace eigenpy {
 template <typename _Solver>
 struct IterativeSolverBaseVisitor
-    : public boost::python::def_visitor<IterativeSolverBaseVisitor<_Solver> > {
+    : public boost::python::def_visitor<IterativeSolverBaseVisitor<_Solver>> {
   typedef _Solver Solver;
   typedef typename Solver::MatrixType MatrixType;
   typedef typename Solver::Preconditioner Preconditioner;
@@ -123,7 +123,7 @@ struct IterativeSolverBaseVisitor
 
 template <typename _MatrixType>
 struct MINRESSolverVisitor
-    : public boost::python::def_visitor<MINRESSolverVisitor<_MatrixType> > {
+    : public boost::python::def_visitor<MINRESSolverVisitor<_MatrixType>> {
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
@@ -165,7 +165,8 @@ struct MINRESSolverVisitor
         "defaults are the size of the problem for the maximal number of "
         "iterations and NumTraits<Scalar>::epsilon() for the tolerance.\n",
         bp::no_init)
-        .def(MINRESSolverVisitor());
+        .def(MINRESSolverVisitor())
+        .def(IdVisitor<Solver>());
   }
 
  private:
@@ -177,4 +178,4 @@ struct MINRESSolverVisitor
 
 }  // namespace eigenpy
 
-#endif  // ifndef __eigenpy_decomposition_minres_hpp__
+#endif  // ifndef __eigenpy_decompositions_minres_hpp__

include/eigenpy/decompositions/sparse/LDLT.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_sparse_ldlt_hpp__
+#define __eigenpy_decompositions_sparse_ldlt_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/decompositions/sparse/SimplicialCholesky.hpp"
+#include "eigenpy/utils/scalar-name.hpp"
+
+namespace eigenpy {
+
+template <typename _MatrixType, int _UpLo = Eigen::Lower,
+          typename _Ordering =
+              Eigen::AMDOrdering<typename _MatrixType::StorageIndex>>
+struct SimplicialLDLTVisitor
+    : public boost::python::def_visitor<
+          SimplicialLDLTVisitor<_MatrixType, _UpLo, _Ordering>> {
+  typedef SimplicialLDLTVisitor<_MatrixType, _UpLo, _Ordering> Visitor;
+  typedef _MatrixType MatrixType;
+
+  typedef Eigen::SimplicialLDLT<MatrixType> Solver;
+  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(bp::init<>(bp::arg("self"), "Default constructor"))
+        .def(bp::init<MatrixType>(bp::args("self", "matrix"),
+                                  "Constructs and performs the LDLT "
+                                  "factorization from a given matrix."))
+
+        .def("vectorD", &vectorD, bp::arg("self"),
+             "Returns the diagonal vector D.")
+        .def(SimplicialCholeskyVisitor<Solver>());
+  }
+
+  static void expose() {
+    static const std::string classname =
+        "SimplicialLDLT_" + scalar_name<Scalar>::shortname();
+    expose(classname);
+  }
+
+  static void expose(const std::string &name) {
+    bp::class_<Solver, boost::noncopyable>(
+        name.c_str(),
+        "A direct sparse LDLT Cholesky factorizations.\n\n"
+        "This class provides a LDL^T Cholesky factorizations of sparse "
+        "matrices that are selfadjoint and positive definite."
+        "The factorization allows for solving A.X = B where X and B can be "
+        "either dense or sparse.\n\n"
+        "In order to reduce the fill-in, a symmetric permutation P is applied "
+        "prior to the factorization such that the factorized matrix is P A "
+        "P^-1.",
+        bp::no_init)
+        .def(SimplicialLDLTVisitor())
+        .def(IdVisitor<Solver>());
+  }
+
+ private:
+  static DenseVectorXs vectorD(const Solver &self) { return self.vectorD(); }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_decompositions_sparse_ldlt_hpp__

include/eigenpy/decompositions/sparse/LLT.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_sparse_llt_hpp__
+#define __eigenpy_decompositions_sparse_llt_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/decompositions/sparse/SimplicialCholesky.hpp"
+#include "eigenpy/utils/scalar-name.hpp"
+
+namespace eigenpy {
+
+template <typename _MatrixType, int _UpLo = Eigen::Lower,
+          typename _Ordering =
+              Eigen::AMDOrdering<typename _MatrixType::StorageIndex>>
+struct SimplicialLLTVisitor
+    : public boost::python::def_visitor<
+          SimplicialLLTVisitor<_MatrixType, _UpLo, _Ordering>> {
+  typedef SimplicialLLTVisitor<_MatrixType, _UpLo, _Ordering> Visitor;
+  typedef _MatrixType MatrixType;
+
+  typedef Eigen::SimplicialLLT<MatrixType> Solver;
+  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(bp::init<>(bp::arg("self"), "Default constructor"))
+        .def(bp::init<MatrixType>(bp::args("self", "matrix"),
+                                  "Constructs and performs the LLT "
+                                  "factorization from a given matrix."))
+
+        .def(SimplicialCholeskyVisitor<Solver>());
+  }
+
+  static void expose() {
+    static const std::string classname =
+        "SimplicialLLT_" + scalar_name<Scalar>::shortname();
+    expose(classname);
+  }
+
+  static void expose(const std::string &name) {
+    bp::class_<Solver, boost::noncopyable>(
+        name.c_str(),
+        "A direct sparse LLT Cholesky factorizations.\n\n"
+        "This class provides a LL^T Cholesky factorizations of sparse matrices "
+        "that are selfadjoint and positive definite."
+        "The factorization allows for solving A.X = B where X and B can be "
+        "either dense or sparse.\n\n"
+        "In order to reduce the fill-in, a symmetric permutation P is applied "
+        "prior to the factorization such that the factorized matrix is P A "
+        "P^-1.",
+        bp::no_init)
+        .def(SimplicialLLTVisitor())
+        .def(IdVisitor<Solver>());
+  }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_decompositions_sparse_llt_hpp__

include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_sparse_simplicial_cholesky_hpp__
+#define __eigenpy_decompositions_sparse_simplicial_cholesky_hpp__
+
+#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/eigen/EigenBase.hpp"
+#include "eigenpy/decompositions/sparse/SparseSolverBase.hpp"
+
+#include <Eigen/SparseCholesky>
+
+namespace eigenpy {
+
+template <typename SimplicialDerived>
+struct SimplicialCholeskyVisitor
+    : public boost::python::def_visitor<
+          SimplicialCholeskyVisitor<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("analyzePattern", &Solver::analyzePattern,
+           bp::args("self", "matrix"),
+           "Performs a symbolic decomposition on the sparcity of matrix.\n"
+           "This function is particularly useful when solving for several "
+           "problems having the same structure.")
+
+        .def(EigenBaseVisitor<Solver>())
+        .def(SparseSolverBaseVisitor<Solver>())
+
+        .def("matrixL", &matrixL, bp::arg("self"),
+             "Returns the lower triangular matrix L.")
+        .def("matrixU", &matrixU, bp::arg("self"),
+             "Returns the upper triangular matrix U.")
+
+        .def("compute",
+             (Solver & (Solver::*)(const MatrixType &matrix)) & Solver::compute,
+             bp::args("self", "matrix"),
+             "Computes the sparse Cholesky decomposition of a given matrix.",
+             bp::return_self<>())
+
+        .def("determinant", &Solver::determinant, bp::arg("self"),
+             "Returns the determinant of the underlying matrix from the "
+             "current factorization.")
+
+        .def("factorize", &Solver::factorize, bp::args("self", "matrix"),
+             "Performs a numeric decomposition of a given matrix.\n"
+             "The given matrix must has the same sparcity than the matrix on "
+             "which the symbolic decomposition has been performed.\n"
+             "See also analyzePattern().")
+
+        .def("info", &Solver::info, bp::arg("self"),
+             "NumericalIssue if the input contains INF or NaN values or "
+             "overflow occured. Returns Success otherwise.")
+
+        .def("setShift", &Solver::setShift,
+             (bp::args("self", "offset"), bp::arg("scale") = RealScalar(1)),
+             "Sets the shift parameters that will be used to adjust the "
+             "diagonal coefficients during the numerical factorization.\n"
+             "During the numerical factorization, the diagonal coefficients "
+             "are transformed by the following linear model: d_ii = offset + "
+             "scale * d_ii.\n"
+             "The default is the identity transformation with offset=0, and "
+             "scale=1.",
+             bp::return_self<>())
+
+        .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>());
+  }
+
+ private:
+  static MatrixType matrixL(const Solver &self) { return self.matrixL(); }
+  static MatrixType matrixU(const Solver &self) { return self.matrixU(); }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_decompositions_sparse_simplicial_cholesky_hpp__

include/eigenpy/decompositions/sparse/SparseSolverBase.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_decompositions_sparse_sparse_solver_base_hpp__
+#define __eigenpy_decompositions_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_decompositions_sparse_sparse_solver_base_hpp__