sleipnirgroup-jormungandr 0.6.5.dev19__tar.gz → 0.6.5.dev21__tar.gz

{sleipnirgroup_jormungandr-0.6.5.dev19 → sleipnirgroup_jormungandr-0.6.5.dev21}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: sleipnirgroup-jormungandr
-Version: 0.6.5.dev19
+Version: 0.6.5.dev21
 Summary: Reverse mode autodiff library and NLP solver DSL
 License-Expression: BSD-3-Clause
 License-File: LICENSE.txt

{sleipnirgroup_jormungandr-0.6.5.dev19 → sleipnirgroup_jormungandr-0.6.5.dev21}/include/sleipnir/autodiff/variable_matrix.hpp

@@ -1001,6 +1001,23 @@ class VariableMatrix : public SleipnirBase {
     return result;
   }
 
+  /// Converts the VariableMatrix to an Eigen matrix.
+  ///
+  /// @return Eigen matrix.
+  Eigen::Matrix<Variable<Scalar>, Eigen::Dynamic, Eigen::Dynamic> to_eigen()
+      const {
+    Eigen::Matrix<Variable<Scalar>, Eigen::Dynamic, Eigen::Dynamic> result{
+        rows(), cols()};
+
+    for (int row = 0; row < rows(); ++row) {
+      for (int col = 0; col < cols(); ++col) {
+        result[row, col] = (*this)[row, col];
+      }
+    }
+
+    return result;
+  }
+
   /// Transforms the matrix coefficient-wise with an unary operator.
   ///
   /// @param unary_op The unary operator to use for the transform operation.
@@ -1187,6 +1204,22 @@ class VariableMatrix : public SleipnirBase {
   /// @return Number of elements in matrix.
   size_t size() const { return m_storage.size(); }
 
+  /// Returns an identity variable matrix.
+  ///
+  /// @param rows The number of matrix rows.
+  /// @return An identity variable matrix.
+  static VariableMatrix<Scalar> identity(int rows) {
+    VariableMatrix<Scalar> result{detail::empty, rows, rows};
+
+    for (int row = 0; row < rows; ++row) {
+      for (int col = 0; col < rows; ++col) {
+        result[row, col] = row == col ? Scalar(1) : Scalar(0);
+      }
+    }
+
+    return result;
+  }
+
   /// Returns a variable matrix filled with zeros.
   ///
   /// @param rows The number of matrix rows.
@@ -1613,33 +1646,8 @@ VariableMatrix<Scalar> solve(const VariableMatrix<Scalar>& A,
     auto det_A = a * adj_A00 + b * adj_A10 + c * adj_A20 + d * adj_A30;
     return adj_A / det_A * B;
   } else {
-    using MatrixXv =
-        Eigen::Matrix<Variable<Scalar>, Eigen::Dynamic, Eigen::Dynamic>;
-
-    MatrixXv eigen_A{A.rows(), A.cols()};
-    for (int row = 0; row < A.rows(); ++row) {
-      for (int col = 0; col < A.cols(); ++col) {
-        eigen_A[row, col] = A[row, col];
-      }
-    }
-
-    MatrixXv eigen_B{B.rows(), B.cols()};
-    for (int row = 0; row < B.rows(); ++row) {
-      for (int col = 0; col < B.cols(); ++col) {
-        eigen_B[row, col] = B[row, col];
-      }
-    }
-
-    MatrixXv eigen_X = eigen_A.householderQr().solve(eigen_B);
-
-    VariableMatrix<Scalar> X{detail::empty, A.cols(), B.cols()};
-    for (int row = 0; row < X.rows(); ++row) {
-      for (int col = 0; col < X.cols(); ++col) {
-        X[row, col] = eigen_X[row, col];
-      }
-    }
-
-    return X;
+    return VariableMatrix<Scalar>{
+        A.to_eigen().householderQr().solve(B.to_eigen())};
   }
 }
 

{sleipnirgroup_jormungandr-0.6.5.dev19 → sleipnirgroup_jormungandr-0.6.5.dev21}/python/cpp/autodiff/bind_variable_matrix.cpp

@@ -439,6 +439,8 @@ void bind_variable_matrix(nb::module_& autodiff,
          const std::function<Variable<double>(const Variable<double>& x)>&
              unary_op) { return self.cwise_transform(unary_op); },
       "func"_a, DOC(slp, VariableMatrix, cwise_transform));
+  cls.def_static("identity", &VariableMatrix<double>::identity, "rows"_a,
+                 DOC(slp, VariableMatrix, identity));
   cls.def_static("zero", &VariableMatrix<double>::zero, "rows"_a, "cols"_a,
                  DOC(slp, VariableMatrix, zero));
   cls.def_static("one", &VariableMatrix<double>::one, "rows"_a, "cols"_a,

{sleipnirgroup_jormungandr-0.6.5.dev19 → sleipnirgroup_jormungandr-0.6.5.dev21}/python/cpp/docstrings.hpp

@@ -1812,6 +1812,15 @@ R"doc(Returns const end iterator.
 Returns:
     Const end iterator.)doc";
 
+static const char *__doc_slp_VariableMatrix_identity =
+R"doc(Returns an identity variable matrix.
+
+Parameter ``rows``:
+    The number of matrix rows.
+
+Returns:
+    An identity variable matrix.)doc";
+
 static const char *__doc_slp_VariableMatrix_iterator = R"doc()doc";
 
 static const char *__doc_slp_VariableMatrix_iterator_iterator = R"doc()doc";
@@ -2127,6 +2136,12 @@ R"doc(Returns number of elements in matrix.
 Returns:
     Number of elements in matrix.)doc";
 
+static const char *__doc_slp_VariableMatrix_to_eigen =
+R"doc(Converts the VariableMatrix to an Eigen matrix.
+
+Returns:
+    Eigen matrix.)doc";
+
 static const char *__doc_slp_VariableMatrix_value =
 R"doc(Returns an element of the variable matrix.
 

{sleipnirgroup_jormungandr-0.6.5.dev19 → sleipnirgroup_jormungandr-0.6.5.dev21}/python/src/sleipnir/__init__.py

@@ -2,4 +2,4 @@
 
 from ._sleipnir import *
 
-__version__ = "0.6.5.dev19"
+__version__ = "0.6.5.dev21"

{sleipnirgroup_jormungandr-0.6.5.dev19 → sleipnirgroup_jormungandr-0.6.5.dev21}/python/test/autodiff/variable_matrix_test.py

@@ -358,9 +358,19 @@ def test_unary_broadcast():
     assert (result2.value() == expected2).all()
 
 
+def test_identity_static_function():
+    A = VariableMatrix.identity(3)
+
+    assert A.shape == (3, 3)
+
+    assert (A.value() == np.identity(3)).all()
+
+
 def test_zero_static_function():
     A = VariableMatrix.zero(2, 3)
 
+    assert A.shape == (2, 3)
+
     for row in range(A.rows()):
         for col in range(A.cols()):
             assert A[row, col].value() == 0.0
@@ -369,6 +379,8 @@ def test_zero_static_function():
 def test_one_static_function():
     A = VariableMatrix.one(2, 3)
 
+    assert A.shape == (2, 3)
+
     for row in range(A.rows()):
         for col in range(A.cols()):
             assert A[row, col].value() == 1.0
@@ -377,6 +389,8 @@ def test_one_static_function():
 def test_constant_static_function():
     A = VariableMatrix.constant(2, 3, 2.0)
 
+    assert A.shape == (2, 3)
+
     for row in range(A.rows()):
         for col in range(A.cols()):
             assert A[row, col].value() == 2.0