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Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x.

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PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
This commit is contained in:
Yuval Tassa
2022-09-14 08:04:40 -07:00
committed by Copybara-Service
parent ee9eccc992
commit f4e7fa97af
12 changed files with 109 additions and 20 deletions
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python/mujoco/functions.cc
+20
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@@ -784,6 +784,26 @@ PYBIND11_MODULE(_functions, pymodule) {
return InterceptMjErrors(::mju_mulMatTVec)(
res.data(), mat.data(), vec.data(), mat.rows(), mat.cols());
});
DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulVecMatVec, "n")(
pymodule,
[](Eigen::Ref<const EigenVectorX> vec1,
Eigen::Ref<const EigenArrayXX> mat,
Eigen::Ref<const EigenVectorX> vec2) {
if (vec1.size() != vec2.size()) {
throw py::type_error(
"size of vec1 should equal the size of vec2");
}
if (vec1.size() != mat.cols()) {
throw py::type_error(
"size of vectors should equal the number of columns in mat");
}
if (vec1.size() != mat.rows()) {
throw py::type_error(
"size of vectors should equal the number of rows in mat");
}
return InterceptMjErrors(::mju_mulVecMatVec)(
vec1.data(), mat.data(), vec2.data(), vec1.size());
});
DEF_WITH_OMITTED_PY_ARGS(traits::mju_transpose, "nr", "nc")(
pymodule,
[](Eigen::Ref<EigenArrayXX> res,