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Cleaned up sparse solvers code #386

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Merged
merged 5 commits into from
Nov 29, 2022
Merged

Cleaned up sparse solvers code #386

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db331cb
Created utility function to sample sparse matrix tensors.
luisenp Nov 28, 2022
ac7a893
Renamed some incorrectly capitalized variables.
luisenp Nov 28, 2022
78ce094
Added missing type hints to sparse linear solvers code.
luisenp Nov 29, 2022
546d68b
Fix some type errors.
luisenp Nov 29, 2022
1c42f33
Fix device errors.
luisenp Nov 29, 2022
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Fix some type errors.
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@luisenp
luisenp committed Nov 29, 2022
commit 546d68b2cf653c3df035d8f600820418b24bd81d
5 changes: 3 additions & 2 deletions theseus/optimizer/linear_system.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
import abc

import numpy as np
import torch
from scipy.sparse import csc_matrix, csr_matrix


Expand All @@ -24,14 +25,14 @@ def __init__(
self.num_cols = num_cols
self.dtype = dtype

def csr_straight(self, val: np.ndarray) -> csr_matrix:
def csr_straight(self, val: torch.Tensor) -> csr_matrix:
return csr_matrix(
(val, self.col_ind, self.row_ptr),
(self.num_rows, self.num_cols),
dtype=self.dtype,
)

def csc_transpose(self, val: np.ndarray) -> csc_matrix:
def csc_transpose(self, val: torch.Tensor) -> csc_matrix:
return csc_matrix(
(val, self.col_ind, self.row_ptr),
(self.num_cols, self.num_rows),
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