sleipnirgroup-jormungandr 0.6.5.dev20__tar.gz → 0.6.5.dev22__tar.gz

{sleipnirgroup_jormungandr-0.6.5.dev20 → sleipnirgroup_jormungandr-0.6.5.dev22}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: sleipnirgroup-jormungandr
-Version: 0.6.5.dev20
+Version: 0.6.5.dev22
 Summary: Reverse mode autodiff library and NLP solver DSL
 License-Expression: BSD-3-Clause
 License-File: LICENSE.txt

{sleipnirgroup_jormungandr-0.6.5.dev20 → sleipnirgroup_jormungandr-0.6.5.dev22}/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.
@@ -1629,33 +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.dev20 → sleipnirgroup_jormungandr-0.6.5.dev22}/python/cpp/docstrings.hpp

@@ -2136,6 +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.dev20 → sleipnirgroup_jormungandr-0.6.5.dev22}/python/src/sleipnir/__init__.py

@@ -2,4 +2,4 @@
 
 from ._sleipnir import *
 
-__version__ = "0.6.5.dev20"
+__version__ = "0.6.5.dev22"

{sleipnirgroup_jormungandr-0.6.5.dev20 → sleipnirgroup_jormungandr-0.6.5.dev22}/python/test/autodiff/variable_matrix_test.py

@@ -424,7 +424,7 @@ def test_block_free_function():
 
 
 def check_solve(A: VariableMatrix, B: VariableMatrix):
-    print(f"Solve {A.shape[0]}x{A.shape[1]}")
+    print(f"solve(A, B) {A.shape[0]}x{A.shape[1]}")
 
     X = autodiff.solve(A, B)