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Simple-Robotics / proxsuite

The Advanced Proximal Optimization Toolbox
BSD 2-Clause "Simplified" License
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Templating power iteration algorithm by matrix storage order #279

Closed quentinll closed 1 year ago

quentinll commented 1 year ago

The power_iteration helper is currently expecting matrices stored in RowMajor as inputs. A memory allocation is performed every time the user provides a matrix stored in ColMajor. This PR aims at extending the current API to handle ColMajor matrices without making any memory allocation.

hrp2-14 commented 1 year ago

Hi ! This project doesn't usually accept pull requests on the main branch. If this wasn't intentionnal, you can change the base branch of this PR to devel (No need to close it for that). Best, a bot.