Unify backends #20
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Unify backends #20
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traversaro
reviewed
Mar 29, 2022
| @@ -2,17 +2,9 @@ | |||
| "cells": [ | |||
| { | |||
| "cell_type": "code", | |||
| "execution_count": 1, | |||
| "execution_count": 17, | |||
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Not intentional. I guess these lines are autogenerated when we run the jupyter notebook!
traversaro
approved these changes
Mar 29, 2022
|
Thanks @traversaro! :) |
CarlottaSartore
approved these changes
Mar 29, 2022
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This PR should remove duplicate code relative to Jax and PyTorch backends.
I implemented several classes that wrap every data type, overriding several methods.
https://github.com/ami-iit/ADAM/blob/unify-backends/src/adam/core/spatial_math.py and implements spatial math methods, inheriting for an
ArrayLikeabstract class.The methods of
ArrayLikeare then implemented inCasadiLike,JaxLike, etc, and used in the main class that implements rigid-body algorithms.Fixes #5