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sparse: add exposition of Accelerate solvers
This feature is only available on Mac OS X, with Eigen >= 3.4.90
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‎CMakeLists.txt‎

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@@ -58,6 +58,13 @@ option(GENERATE_PYTHON_STUBS
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option(BUILD_WITH_CHOLMOD_SUPPORT "Build EigenPy with the Cholmod support" OFF)
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if(APPLE)
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option(BUILD_WITH_ACCELERATE_SUPPORT
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"Build EigenPy with the Accelerate support" OFF)
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else(APPLE)
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set(BUILD_WITH_ACCELERATE_SUPPORT FALSE)
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endif(APPLE)
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string(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
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# If needed, fix CMake policy for APPLE systems
@@ -112,6 +119,24 @@ if(BUILD_WITH_CHOLMOD_SUPPORT)
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add_definitions(-DEIGENPY_WITH_CHOLMOD_SUPPORT)
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endif(BUILD_WITH_CHOLMOD_SUPPORT)
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if(BUILD_WITH_ACCELERATE_SUPPORT)
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if(NOT ${Eigen3_VERSION} VERSION_GREATER_EQUAL "3.4.90")
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message(
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FATAL_ERROR
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"Your version of Eigen is too low. Should be at least 3.4.90. Current version is ${Eigen3_VERSION}."
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)
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endif()
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set(CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/Accelerate
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${CMAKE_MODULE_PATH})
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add_project_dependency(
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Accelerate REQUIRED # FIND_EXTERNAL "Accelerate" # We don't export yet as
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# there might be an issue on AMR64 platforms
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)
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message(STATUS "Build with Accelerate support framework.")
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add_definitions(-DEIGENPY_WITH_ACCELERATE_SUPPORT)
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endif(BUILD_WITH_ACCELERATE_SUPPORT)
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# ----------------------------------------------------
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# --- INCLUDE ----------------------------------------
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# ----------------------------------------------------
@@ -139,6 +164,9 @@ set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_CHOLMOD_HEADERS
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include/eigenpy/decompositions/sparse/cholmod/CholmodSimplicialLLT.hpp
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include/eigenpy/decompositions/sparse/cholmod/CholmodSupernodalLLT.hpp)
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set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_ACCELERATE_HEADERS
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include/eigenpy/decompositions/sparse/accelerate/accelerate.hpp)
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set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS
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include/eigenpy/decompositions/sparse/LLT.hpp
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include/eigenpy/decompositions/sparse/LDLT.hpp
@@ -150,6 +178,11 @@ if(BUILD_WITH_CHOLMOD_SUPPORT)
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${${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_CHOLMOD_HEADERS})
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endif(BUILD_WITH_CHOLMOD_SUPPORT)
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if(BUILD_WITH_ACCELERATE_SUPPORT)
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list(APPEND ${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS
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${${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_ACCELERATE_HEADERS})
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endif(BUILD_WITH_ACCELERATE_SUPPORT)
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set(${PROJECT_NAME}_DECOMPOSITIONS_HEADERS
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${${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS}
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include/eigenpy/decompositions/decompositions.hpp
@@ -229,6 +262,11 @@ if(BUILD_WITH_CHOLMOD_SUPPORT)
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src/decompositions/cholmod.cpp)
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endif(BUILD_WITH_CHOLMOD_SUPPORT)
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if(BUILD_WITH_ACCELERATE_SUPPORT)
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list(APPEND ${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
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src/decompositions/accelerate.cpp)
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endif(BUILD_WITH_ACCELERATE_SUPPORT)
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set(${PROJECT_NAME}_SOURCES
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${${PROJECT_NAME}_SOLVERS_SOURCES}
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${${PROJECT_NAME}_DECOMPOSITIONS_SOURCES}
@@ -280,10 +318,19 @@ modernize_target_link_libraries(
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${NUMPY_INCLUDE_DIRS}
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${PYTHON_INCLUDE_DIR})
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# Links against CholMod
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if(BUILD_WITH_CHOLMOD_SUPPORT)
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modernize_target_link_libraries(${PROJECT_NAME} SCOPE PUBLIC TARGETS
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CHOLMOD::CHOLMOD)
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endif(BUILD_WITH_CHOLMOD_SUPPORT)
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# Links against accelerate
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if(BUILD_WITH_ACCELERATE_SUPPORT)
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# modernize_target_link_libraries(${PROJECT_NAME} SCOPE PUBLIC TARGETS
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# Accelerate)
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target_link_libraries(${PROJECT_NAME} PRIVATE "-framework accelerate")
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endif(BUILD_WITH_ACCELERATE_SUPPORT)
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if(SUFFIX_SO_VERSION)
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set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
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endif(SUFFIX_SO_VERSION)

‎include/eigenpy/decompositions/decompositions.hpp‎

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@@ -14,6 +14,10 @@ void EIGENPY_DLLAPI exposeDecompositions();
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void EIGENPY_DLLAPI exposeCholmod();
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#endif
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#ifdef EIGENPY_WITH_ACCELERATE_SUPPORT
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void EIGENPY_DLLAPI exposeAccelerate();
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#endif
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} // namespace eigenpy
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#endif // define __eigenpy_decompositions_decompositions_hpp__

‎include/eigenpy/decompositions/sparse/accelerate/accelerate.hpp‎

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/*
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* Copyright 2024 INRIA
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*/
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#ifndef __eigenpy_decomposition_sparse_accelerate_accelerate_hpp__
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#define __eigenpy_decomposition_sparse_accelerate_accelerate_hpp__
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#include "eigenpy/eigenpy.hpp"
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#include "eigenpy/eigen/EigenBase.hpp"
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#include "eigenpy/decompositions/sparse/SparseSolverBase.hpp"
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#include <Eigen/AccelerateSupport>
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namespace eigenpy {
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template <typename AccelerateDerived>
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struct AccelerateImplVisitor : public boost::python::def_visitor<
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AccelerateImplVisitor<AccelerateDerived> > {
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typedef AccelerateDerived Solver;
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typedef typename AccelerateDerived::MatrixType MatrixType;
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typedef typename MatrixType::Scalar Scalar;
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typedef typename MatrixType::RealScalar RealScalar;
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typedef MatrixType CholMatrixType;
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typedef typename MatrixType::StorageIndex StorageIndex;
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template <class PyClass>
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void visit(PyClass &cl) const {
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cl
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.def("analyzePattern", &Solver::analyzePattern,
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bp::args("self", "matrix"),
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"Performs a symbolic decomposition on the sparcity of matrix.\n"
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"This function is particularly useful when solving for several "
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"problems having the same structure.")
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.def(EigenBaseVisitor<Solver>())
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.def(SparseSolverBaseVisitor<Solver>())
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.def("compute",
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(Solver & (Solver::*)(const MatrixType &matrix)) & Solver::compute,
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bp::args("self", "matrix"),
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"Computes the sparse Cholesky decomposition of a given matrix.",
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bp::return_self<>())
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.def("factorize", &Solver::factorize, bp::args("self", "matrix"),
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"Performs a numeric decomposition of a given matrix.\n"
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"The given matrix must has the same sparcity than the matrix on "
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"which the symbolic decomposition has been performed.\n"
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"See also analyzePattern().")
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.def("info", &Solver::info, bp::arg("self"),
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"NumericalIssue if the input contains INF or NaN values or "
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"overflow occured. Returns Success otherwise.")
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.def("setOrder", &Solver::setOrder, bp::arg("self"), "Set order");
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}
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static void expose(const std::string &name, const std::string &doc = "") {
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bp::class_<Solver, boost::noncopyable>(name.c_str(), doc.c_str(),
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bp::no_init)
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.def(AccelerateImplVisitor())
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.def(bp::init<>(bp::arg("self"), "Default constructor"))
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.def(bp::init<MatrixType>(bp::args("self", "matrix"),
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"Constructs and performs the "
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"factorization from a given matrix."));
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}
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};
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} // namespace eigenpy
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#endif // ifndef __eigenpy_decomposition_sparse_accelerate_accelerate_hpp__

‎src/decompositions/accelerate.cpp‎

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/*
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* Copyright 2024 INRIA
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*/
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#include "eigenpy/fwd.hpp"
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#include "eigenpy/decompositions/decompositions.hpp"
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#include "eigenpy/decompositions/sparse/accelerate/accelerate.hpp"
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namespace eigenpy {
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void exposeAccelerate() {
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using namespace Eigen;
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typedef Eigen::SparseMatrix<double, Eigen::ColMajor> ColMajorSparseMatrix;
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// typedef Eigen::SparseMatrix<double,Eigen::RowMajor> RowMajorSparseMatrix;
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bp::enum_<SparseOrder_t>("SparseOrder")
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.value("SparseOrderUser", SparseOrderUser)
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.value("SparseOrderAMD", SparseOrderAMD)
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.value("SparseOrderMetis", SparseOrderMetis)
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.value("SparseOrderCOLAMD", SparseOrderCOLAMD);
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#define EXPOSE_ACCELERATE_DECOMPOSITION(name) \
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AccelerateImplVisitor<name<ColMajorSparseMatrix> >::expose( \
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EIGENPY_STRINGIZE(name))
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EXPOSE_ACCELERATE_DECOMPOSITION(AccelerateLLT);
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EXPOSE_ACCELERATE_DECOMPOSITION(AccelerateLDLT);
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EXPOSE_ACCELERATE_DECOMPOSITION(AccelerateLDLTUnpivoted);
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EXPOSE_ACCELERATE_DECOMPOSITION(AccelerateLDLTSBK);
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EXPOSE_ACCELERATE_DECOMPOSITION(AccelerateLDLTTPP);
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EXPOSE_ACCELERATE_DECOMPOSITION(AccelerateQR);
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EXPOSE_ACCELERATE_DECOMPOSITION(AccelerateCholeskyAtA);
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}
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} // namespace eigenpy

‎src/decompositions/decompositions.cpp‎

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@@ -52,5 +52,9 @@ void exposeDecompositions() {
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#ifdef EIGENPY_WITH_CHOLMOD_SUPPORT
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exposeCholmod();
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#endif
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#ifdef EIGENPY_WITH_ACCELERATE_SUPPORT
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exposeAccelerate();
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#endif
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}
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} // namespace eigenpy

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