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@Lucas-Haubert Lucas-Haubert commented Mar 19, 2025

Note: Do not merge, tests have to be finished first ! (and local topic/decomps_geometry_solvers must be merged to local devel).

The aim of this branch is to add the following features:

  • Bindings for Eigen's matrix decompositions
  • Support for Eigen's Geometry module
  • Bindings for Eigen's other solver classes
  • Add Python stubs (using nanobind's stub generation)

In particular:

  • .solve in MINRES: Does not solve correctly => to fix
  • Code apple accelerate
  • Tests for Cholmod
  • Tests EigenSolver
  • Finish code geometry
  • Code solvers
  • More general tests for all the methods (instead of tests suited for simple matrices like identity)

After this one is finished and merged:

  • Discussion on the types between eigen and numpy

@ManifoldFR
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Don't forget to turn on pre-commit locally @Lucas-Haubert:

conda install pre-commit -y  # or 'mamba install'
pre-commit install
pre-commit run --all --verbose

@ManifoldFR ManifoldFR changed the title [WIP] Topic/decomps geometry solvers Bindings for Eigen's decompositions, matrix solvers, and geometry module Mar 19, 2025
@ManifoldFR ManifoldFR self-requested a review March 19, 2025 10:21
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A first round of feedback.

@ManifoldFR ManifoldFR changed the base branch from devel to main March 20, 2025 12:18
@ManifoldFR ManifoldFR force-pushed the topic/decomps_geometry_solvers branch 2 times, most recently from d8a365e to 7030e32 Compare March 20, 2025 13:49
@ManifoldFR ManifoldFR force-pushed the topic/decomps_geometry_solvers branch from c1d915b to 4bcadfb Compare March 28, 2025 11:50
@ManifoldFR ManifoldFR force-pushed the topic/decomps_geometry_solvers branch from 4bcadfb to 2f421b1 Compare March 28, 2025 11:51
@ManifoldFR ManifoldFR changed the title Bindings for Eigen's decompositions, matrix solvers, and geometry module Bindings for Eigen's decompositions, matrix solvers, and geometry module, and add stubs Mar 28, 2025
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Fantastic work everyone, the CI is all green!

We can now gear up for the first release.

@ManifoldFR ManifoldFR merged commit db6b78e into Simple-Robotics:main Mar 28, 2025
18 checks passed
@Lucas-Haubert Lucas-Haubert deleted the topic/decomps_geometry_solvers branch March 28, 2025 17:15
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3 participants