skrobot.planner.utils.scipinize

skrobot.planner.utils.scipinize(fun)[source]

Scipinize a function returning both f and jac

For the detail this issue may help: https://github.com/scipy/scipy/issues/12692

Parameters:

fun (function) – function maps numpy.ndarray(n_dim,) to tuple[numpy.ndarray(m_dim,), numpy.ndarray(m_dim, n_dim)], where the returned tuples is composed of function value(vector) and the corresponding jacobian.

Returns:

  • fun_scipinized (function) – function maps numpy.ndarray(n_dim,) to a value numpy.ndarray(m_dim,).

  • fun_scipinized_jac (function) – function maps numpy.ndarray(n_dim,) to jacobian numpy.ndarray(m_dim, n_dim).