expose-dense.cpp

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#include "aligator/python/fwd.hpp"
 
#include "aligator/gar/dense-riccati.hpp"
#include "aligator/gar/lqr-problem.hpp"
 
namespace aligator::python {
using namespace gar;
using context::Scalar;
using riccati_base_t = RiccatiSolverBase<Scalar>;
using lqr_t = LQRProblemTpl<context::Scalar>;
 
void exposeDenseSolver() {
 
  bp::class_<RiccatiSolverDense<Scalar>, bp::bases<riccati_base_t>,
             boost::noncopyable>("RiccatiSolverDense",
                                 "Stagewise-dense Riccati solver (using "
                                 "stagewise Bunch-Kaufman factorizations).",
                                 bp::no_init)
      .def(bp::init<const lqr_t &>(("self"_a, "problem")));
}
 
} // namespace aligator::python